From 8af76b28fa0b15f933888ede8b20ee7cb7a8e172 Mon Sep 17 00:00:00 2001 From: Jason Guo Date: Fri, 9 Oct 2015 06:46:43 -0700 Subject: [PATCH 1/5] release-yamabe --- AreaLearningJava/CMakeLists.txt | 16 + AreaLearningJava/app/build.gradle | 1 + .../app/src/main/AndroidManifest.xml | 6 +- .../javaarealearning/ADFDataSource.java | 1 - .../ADFUUIDListViewActivity.java | 4 +- .../AreaLearningActivity.java | 551 +++++++++--------- .../AreaLearningRajawaliRenderer.java | 140 +++++ .../javaarealearning/SaveAdfDialog.java | 2 +- .../javaarealearning/SaveAdfTask.java | 6 +- .../javaarealearning/SetADFNameDialog.java | 16 +- .../res/layout/activity_area_learning.xml | 2 +- .../src/main/res/layout/save_adf_dialog.xml | 2 +- AreaLearningJava/build.gradle | 2 + AreaLearningJava/package.xml | 20 + AugmentedRealitySample/.gitignore | 7 + AugmentedRealitySample/CMakeLists.txt | 16 + AugmentedRealitySample/app/.gitignore | 1 + AugmentedRealitySample/app/build.gradle | 48 ++ AugmentedRealitySample/app/proguard-rules.pro | 17 + .../app/src/main/AndroidManifest.xml | 28 + .../AugmentedRealityActivity.java | 155 +++++ .../AugmentedRealityRenderer.java | 86 +++ .../main/res/drawable-xxhdpi/ic_launcher.png | Bin 0 -> 31047 bytes .../app/src/main/res/layout/activity_main.xml | 11 + .../app/src/main/res/menu/main.xml | 11 + .../app/src/main/res/values-v11/styles.xml | 11 + .../app/src/main/res/values-v14/styles.xml | 12 + .../app/src/main/res/values-w820dp/dimens.xml | 10 + .../app/src/main/res/values/dimens.xml | 7 + .../app/src/main/res/values/strings.xml | 8 + .../app/src/main/res/values/styles.xml | 20 + AugmentedRealitySample/build.gradle | 21 + AugmentedRealitySample/gradle.properties | 18 + .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 49896 bytes .../gradle/wrapper/gradle-wrapper.properties | 6 + AugmentedRealitySample/gradlew | 164 ++++++ AugmentedRealitySample/gradlew.bat | 90 +++ AugmentedRealitySample/package.xml | 22 + AugmentedRealitySample/settings.gradle | 1 + MotionTrackingJava/CMakeLists.txt | 16 + MotionTrackingJava/app/build.gradle | 1 + .../app/src/main/AndroidManifest.xml | 4 +- .../MotionTrackingActivity.java | 242 ++++---- .../MotionTrackingRajawaliRenderer.java | 127 ++++ .../javamotiontracking/StartActivity.java | 2 +- .../res/layout/activity_motion_tracking.xml | 2 +- MotionTrackingJava/build.gradle | 2 + MotionTrackingJava/package.xml | 20 + MotionTrackingJava/settings.gradle | 4 +- PointCloudJava/CMakeLists.txt | 16 + PointCloudJava/app/build.gradle | 1 + .../app/src/main/AndroidManifest.xml | 2 +- .../javapointcloud/PointCloudActivity.java | 376 ++++++------ .../javapointcloud/PointCloudManager.java | 123 ++++ .../PointCloudRajawaliRenderer.java | 147 +++++ .../main/res/layout/activity_jpoint_cloud.xml | 2 +- PointCloudJava/build.gradle | 2 + PointCloudJava/package.xml | 22 + PointCloudJava/settings.gradle | 2 +- QuickstartJava/CMakeLists.txt | 16 + QuickstartJava/package.xml | 20 + TangoReleaseLibs/aar/TangoUtils.aar | Bin 20625 -> 385602 bytes .../aar/tango-ux-support-library.aar | Bin 121908 -> 156598 bytes TangoReleaseLibs/jar/tango_java_lib.jar | Bin 56860 -> 57466 bytes TangoUtils/CMakeLists.txt | 16 + TangoUtils/app/build.gradle | 13 + .../java/com/projecttango/rajawali/Pose.java | 40 ++ .../rajawali/ScenePoseCalcuator.java | 208 +++++++ .../rajawali/TouchViewHandler.java | 148 +++++ .../rajawali/ar/TangoRajawaliRenderer.java | 277 +++++++++ .../rajawali/ar/TangoRajawaliView.java | 122 ++++ .../rajawali/renderables/Axes.java | 50 ++ .../rajawali/renderables/Frustum.java | 74 +++ .../rajawali/renderables/FrustumAxes.java | 33 ++ .../rajawali/renderables/Grid.java | 62 ++ .../rajawali/renderables/Trajectory.java | 53 ++ .../renderables/primitives/Points.java | 72 +++ .../tangoutils/TangoPoseUtilities.java | 82 +++ TangoUtils/build.gradle | 2 + TangoUtils/package.xml | 20 + VideoOverlaySample/CMakeLists.txt | 17 + .../videooverlaysample/MainActivity.java | 18 +- VideoOverlaySample/package.xml | 20 + 83 files changed, 3392 insertions(+), 623 deletions(-) create mode 100644 AreaLearningJava/CMakeLists.txt create mode 100644 AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java create mode 100644 AreaLearningJava/package.xml create mode 100644 AugmentedRealitySample/.gitignore create mode 100644 AugmentedRealitySample/CMakeLists.txt create mode 100644 AugmentedRealitySample/app/.gitignore create mode 100644 AugmentedRealitySample/app/build.gradle create mode 100644 AugmentedRealitySample/app/proguard-rules.pro create mode 100644 AugmentedRealitySample/app/src/main/AndroidManifest.xml create mode 100644 AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java create mode 100644 AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java create mode 100644 AugmentedRealitySample/app/src/main/res/drawable-xxhdpi/ic_launcher.png create mode 100644 AugmentedRealitySample/app/src/main/res/layout/activity_main.xml create mode 100644 AugmentedRealitySample/app/src/main/res/menu/main.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values-v11/styles.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values-v14/styles.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values-w820dp/dimens.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values/dimens.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values/strings.xml create mode 100644 AugmentedRealitySample/app/src/main/res/values/styles.xml create mode 100644 AugmentedRealitySample/build.gradle create mode 100644 AugmentedRealitySample/gradle.properties create mode 100644 AugmentedRealitySample/gradle/wrapper/gradle-wrapper.jar create mode 100644 AugmentedRealitySample/gradle/wrapper/gradle-wrapper.properties create mode 100755 AugmentedRealitySample/gradlew create mode 100644 AugmentedRealitySample/gradlew.bat create mode 100644 AugmentedRealitySample/package.xml create mode 100644 AugmentedRealitySample/settings.gradle create mode 100644 MotionTrackingJava/CMakeLists.txt create mode 100644 MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java create mode 100644 MotionTrackingJava/package.xml create mode 100644 PointCloudJava/CMakeLists.txt create mode 100644 PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudManager.java create mode 100644 PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java create mode 100644 PointCloudJava/package.xml create mode 100644 QuickstartJava/CMakeLists.txt create mode 100644 QuickstartJava/package.xml create mode 100644 TangoUtils/CMakeLists.txt create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/Pose.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/ScenePoseCalcuator.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Axes.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Frustum.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java create mode 100644 TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java create mode 100644 TangoUtils/package.xml create mode 100644 VideoOverlaySample/CMakeLists.txt create mode 100644 VideoOverlaySample/package.xml diff --git a/AreaLearningJava/CMakeLists.txt b/AreaLearningJava/CMakeLists.txt new file mode 100644 index 00000000..3d0d8d7d --- /dev/null +++ b/AreaLearningJava/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8) +project(area_learning_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +# This macro will also generate a depends.inc file with useful source and +# dependency information to pass on to ndk-build. +build_gradle_apk(JavaAreaLearning + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + app/src/main/AndroidManifest.xml + JNI_DIRECTORY app/src/main/jni +) diff --git a/AreaLearningJava/app/build.gradle b/AreaLearningJava/app/build.gradle index 4c9bff2f..ec23419f 100644 --- a/AreaLearningJava/app/build.gradle +++ b/AreaLearningJava/app/build.gradle @@ -38,6 +38,7 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { dependencies { compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) compile(name: 'TangoUtils', ext: 'aar') + compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } repositories{ diff --git a/AreaLearningJava/app/src/main/AndroidManifest.xml b/AreaLearningJava/app/src/main/AndroidManifest.xml index 5ea6cd97..51aa76b1 100644 --- a/AreaLearningJava/app/src/main/AndroidManifest.xml +++ b/AreaLearningJava/app/src/main/AndroidManifest.xml @@ -36,7 +36,7 @@ + android:screenOrientation="nosensor" > @@ -46,12 +46,12 @@ + android:screenOrientation="nosensor"> + android:screenOrientation="nosensor"> diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFDataSource.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFDataSource.java index d107b8f8..b07cd189 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFDataSource.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFDataSource.java @@ -24,7 +24,6 @@ import android.widget.Toast; import java.util.ArrayList; -import java.util.List; /** * This class interfaces a Tango Object and maintains a full list of ADF UUIds. Whenever an adf is diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFUUIDListViewActivity.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFUUIDListViewActivity.java index 3abb469d..84e36751 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFUUIDListViewActivity.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ADFUUIDListViewActivity.java @@ -40,6 +40,7 @@ import java.io.File; import java.util.Arrays; + /** * This class lets you manage ADFs between this class's Application Package folder and API private * space. This show cases mainly three things: Import, Export, Delete an ADF file from API private @@ -241,13 +242,12 @@ public void onAdfNameOk(String name, String uuid) { mUUIDListView.setAdapter(mADFAdapter); } - /** * Implements SetADFNameDialog.CallbackListener. */ @Override public void onAdfNameCancelled() { - // Nothing to do here. + // Nothing to do here. } } diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java index 35a57a19..55d7cb93 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java @@ -16,13 +16,14 @@ package com.projecttango.experiments.javaarealearning; -import com.google.atap.tangoservice.Tango; import com.google.atap.tangoservice.Tango.OnTangoUpdateListener; +import com.google.atap.tangoservice.Tango; import com.google.atap.tangoservice.TangoAreaDescriptionMetaData; import com.google.atap.tangoservice.TangoConfig; import com.google.atap.tangoservice.TangoCoordinateFramePair; import com.google.atap.tangoservice.TangoErrorException; import com.google.atap.tangoservice.TangoEvent; +import com.google.atap.tangoservice.TangoException; import com.google.atap.tangoservice.TangoInvalidException; import com.google.atap.tangoservice.TangoOutOfDateException; import com.google.atap.tangoservice.TangoPoseData; @@ -33,7 +34,7 @@ import android.content.Intent; import android.content.pm.PackageInfo; import android.content.pm.PackageManager.NameNotFoundException; -import android.opengl.GLSurfaceView; +import android.os.AsyncTask; import android.os.Bundle; import android.util.Log; import android.view.MotionEvent; @@ -45,13 +46,17 @@ import java.text.DecimalFormat; import java.util.ArrayList; +import com.projecttango.tangoutils.TangoPoseUtilities; + +import org.rajawali3d.surface.RajawaliSurfaceView; + /** * Main Activity class for the Area Learning API Sample. Handles the connection to the Tango service * and propagation of Tango pose data to OpenGL and Layout views. OpenGL rendering logic is - * delegated to the {@link ALRenderer} class. + * delegated to the {@link AreaLearningRajawaliRenderer} class. */ public class AreaLearningActivity extends Activity implements View.OnClickListener, - SetADFNameDialog.CallbackListener, SaveAdfTask.SaveAdfListener { + SetADFNameDialog.CallbackListener, SaveAdfTask.SaveAdfListener { private static final String TAG = AreaLearningActivity.class.getSimpleName(); private static final int SECONDS_TO_MILLI = 1000; @@ -99,23 +104,155 @@ public class AreaLearningActivity extends Activity implements View.OnClickListen private boolean mIsRelocalized; private boolean mIsLearningMode; private boolean mIsConstantSpaceRelocalize; - private String mCurrentUUID; - private ALRenderer mRenderer; - private GLSurfaceView mGLView; + private AreaLearningRajawaliRenderer mRenderer; + private RajawaliSurfaceView mGLView; - private TangoPoseData[] mPoses; - private static final int UPDATE_INTERVAL_MS = 100; - private static final DecimalFormat threeDec = new DecimalFormat("00.000"); // Long-running task to save the ADF. private SaveAdfTask mSaveAdfTask; - public static Object sharedLock = new Object(); + + private TangoPoseData[] mPoses; + private static final int UPDATE_INTERVAL_MS = 100; + private static final DecimalFormat mThreeDecimalFormat = new DecimalFormat("00.000"); + private static final Object mSharedLock = new Object(); @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_area_learning); + Intent intent = getIntent(); + mIsLearningMode = intent.getBooleanExtra(ALStartActivity.USE_AREA_LEARNING, false); + mIsConstantSpaceRelocalize = intent.getBooleanExtra(ALStartActivity.LOAD_ADF, false); + + // Instantiate the Tango service + mTango = new Tango(this); + mIsRelocalized = false; + mConfig = setTangoConfig(mTango, mIsLearningMode, mIsConstantSpaceRelocalize); + setupTextViewsAndButtons(mConfig, mTango, mIsLearningMode, mIsConstantSpaceRelocalize); + + // Configure OpenGL renderer + mRenderer = setupGLViewAndRenderer(); + + mPoses = new TangoPoseData[3]; + + // Set the number of loop closures to zero at start. + mStart2DevicePoseCount = 0; + mAdf2DevicePoseCount = 0; + mAdf2StartPoseCount = 0; + + startUIThread(); + } + + /** + * Implements SetADFNameDialog.CallbackListener. + */ + @Override + public void onAdfNameOk(String name, String uuid) { + saveAdf(name); + } + /** + * Implements SetADFNameDialog.CallbackListener. + */ + @Override + public void onAdfNameCancelled() { + // Continue running. + } + + @Override + protected void onPause() { + super.onPause(); + try { + mTango.disconnect(); + } catch (TangoErrorException e) { + Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); + } + } + + @Override + protected void onResume() { + super.onResume(); + + // Clear the relocalization state: we don't know where the device has been since our app was paused. + mIsRelocalized = false; + + // Re-attach listeners. + try { + setUpTangoListeners(); + } catch (TangoErrorException e) { + Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); + } catch (SecurityException e) { + Toast.makeText(getApplicationContext(), R.string.no_permissions, Toast.LENGTH_SHORT).show(); + } + + // Connect to the tango service (start receiving pose updates). + try { + mTango.connect(mConfig); + } catch (TangoOutOfDateException e) { + Toast.makeText(getApplicationContext(), R.string.tango_out_of_date_exception, Toast.LENGTH_SHORT).show(); + } catch (TangoErrorException e) { + Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); + } catch (TangoInvalidException e) { + Toast.makeText(getApplicationContext(), R.string.tango_invalid, Toast.LENGTH_SHORT).show(); + } + } + + @Override + protected void onDestroy() { + super.onDestroy(); + } + + /** + * Listens for click events from any button in the view. + */ + @Override + public void onClick(View v) { + switch (v.getId()) { + case R.id.first_person_button: + mRenderer.setFirstPersonView(); + break; + case R.id.top_down_button: + mRenderer.setTopDownView(); + break; + case R.id.third_person_button: + mRenderer.setThirdPersonView(); + break; + case R.id.saveAdf: + // Query the user for an ADF name and save if OK was clicked. + showSetADFNameDialog(); + break; + default: + Log.w(TAG, "Unknown button click"); + return; + } + } + + @Override + public boolean onTouchEvent(MotionEvent event) { + mRenderer.onTouchEvent(event); + return true; + } + + /** + * Sets Rajawalisurface view and its renderer. This is ideally called only once in onCreate. + */ + private AreaLearningRajawaliRenderer setupGLViewAndRenderer(){ + // Configure OpenGL renderer + AreaLearningRajawaliRenderer renderer = new AreaLearningRajawaliRenderer(this); + // OpenGL view where all of the graphics are drawn + RajawaliSurfaceView glView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); + glView.setEGLContextClientVersion(2); + glView.setSurfaceRenderer(renderer); + return renderer; + } + + /** + * Sets Texts views to display statistics of Poses being received. This also sets the buttons + * used in the UI. Please note that this needs to be called after TangoService and Config + * objects are initialized since we use them for the SDK related stuff like version number + * etc. + */ + private void setupTextViewsAndButtons(TangoConfig config, Tango tango, boolean isLearningMode, boolean isLoadAdf){ mTangoEventTextView = (TextView) findViewById(R.id.tangoevent); mAdf2DeviceTranslationTextView = (TextView) findViewById(R.id.adf2devicePose); @@ -143,15 +280,39 @@ protected void onCreate(Bundle savedInstanceState) { mTangoServiceVersionTextView = (TextView) findViewById(R.id.version); mApplicationVersionTextView = (TextView) findViewById(R.id.appversion); - mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view); + mGLView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); mSaveAdfButton = (Button) findViewById(R.id.saveAdf); mUUIDTextView = (TextView) findViewById(R.id.uuid); - // Set up button click listeners + // Set up button click listeners and button state. mFirstPersonButton.setOnClickListener(this); mThirdPersonButton.setOnClickListener(this); mTopDownButton.setOnClickListener(this); + if (isLearningMode) { + // Disable save ADF button until Tango relocalizes to the current ADF. + mSaveAdfButton.setEnabled(false); + mSaveAdfButton.setOnClickListener(this); + } else { + // Hide to save ADF button if leanring mode is off. + mSaveAdfButton.setVisibility(View.GONE); + } + + + if(isLoadAdf){ + ArrayList fullUUIDList = new ArrayList(); + // Returns a list of ADFs with their UUIDs + fullUUIDList = tango.listAreaDescriptions(); + if (fullUUIDList.size() == 0) { + mUUIDTextView.setText(R.string.no_uuid); + } else { + mUUIDTextView.setText(getString(R.string.number_of_adfs) + fullUUIDList.size() + + getString(R.string.latest_adf_is) + + fullUUIDList.get(fullUUIDList.size() - 1)); + } + } + + mTangoServiceVersionTextView.setText(config.getString("tango_service_library_version")); PackageInfo packageInfo; try { @@ -160,64 +321,39 @@ protected void onCreate(Bundle savedInstanceState) { } catch (NameNotFoundException e) { e.printStackTrace(); } - - // Configure OpenGL renderer - mRenderer = new ALRenderer(); - mGLView.setEGLContextClientVersion(2); - mGLView.setRenderer(mRenderer); - - // Instantiate the Tango service - mTango = new Tango(this); - mIsRelocalized = false; - - Intent intent = getIntent(); - mIsLearningMode = intent.getBooleanExtra(ALStartActivity.USE_AREA_LEARNING, false); - mIsConstantSpaceRelocalize = intent.getBooleanExtra(ALStartActivity.LOAD_ADF, false); - setTangoConfig(); - mPoses = new TangoPoseData[3]; - startUIThread(); } - private void setTangoConfig() { - mConfig = new TangoConfig(); - mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT); + /** + * Sets up the tango configuration object. Make sure mTango object is initialized before + * making this call. + */ + private TangoConfig setTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) { + TangoConfig config = new TangoConfig(); + config = tango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT); // Check if learning mode - if (mIsLearningMode) { + if (isLearningMode) { // Set learning mode to config. - mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true); - // Set the ADF save button visible. - mSaveAdfButton.setEnabled(false); - mSaveAdfButton.setOnClickListener(this); - }else { - // Hide to save ADF button if leanring mode is off. - mSaveAdfButton.setVisibility(View.GONE); + config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true); + } // Check for Load ADF/Constant Space relocalization mode - if (mIsConstantSpaceRelocalize) { + if (isLoadAdf) { ArrayList fullUUIDList = new ArrayList(); // Returns a list of ADFs with their UUIDs - fullUUIDList = mTango.listAreaDescriptions(); - if (fullUUIDList.size() == 0) { - mUUIDTextView.setText(R.string.no_uuid); - } - + fullUUIDList = tango.listAreaDescriptions(); // Load the latest ADF if ADFs are found. if (fullUUIDList.size() > 0) { - mConfig.putString(TangoConfig.KEY_STRING_AREADESCRIPTION, + config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION, fullUUIDList.get(fullUUIDList.size() - 1)); - mUUIDTextView.setText(getString(R.string.number_of_adfs) + fullUUIDList.size() - + getString(R.string.latest_adf_is) - + fullUUIDList.get(fullUUIDList.size() - 1)); } } - - // Set the number of loop closures to zero at start. - mStart2DevicePoseCount = 0; - mAdf2DevicePoseCount = 0; - mAdf2StartPoseCount = 0; - mTangoServiceVersionTextView.setText(mConfig.getString("tango_service_library_version")); + return config; } + /** + * Set up the callback listeners for the Tango service, then begin using the Motion + * Tracking API. This is called in response to the user clicking the 'Start' Button. + */ private void setUpTangoListeners() { // Set Tango Listeners for Poses Device wrt Start of Service, Device wrt @@ -251,7 +387,7 @@ public void run() { // When saving an ADF, update the progress bar UI. if (event.eventType == TangoEvent.EVENT_AREA_LEARNING && TangoEvent.KEY_AREA_DESCRIPTION_SAVE_PROGRESS.equals(event.eventKey)) { - int progressPercent = (int) (Double.parseDouble(event.eventValue) * 100); + int progressPercent = (int)(Double.parseDouble(event.eventValue) * 100); if (mSaveAdfTask != null) { mSaveAdfTask.publishProgress(progressPercent); } @@ -262,13 +398,12 @@ public void run() { @Override public void onPoseAvailable(TangoPoseData pose) { + boolean updateRenderer = false; // Make sure to have atomic access to Tango Data so that - // render loop doesn't interfere while Pose call back is updating + // UI loop doesn't interfere while Pose call back is updating // the data. - synchronized (sharedLock) { + synchronized (mSharedLock) { float[] translation = pose.getTranslationAsFloats(); - boolean updateRenderer = false; - // Check for Device wrt ADF pose, Device wrt Start of Service pose, // Start of Service wrt ADF pose(This pose determines if device // the is relocalized or not). @@ -286,9 +421,8 @@ public void onPoseAvailable(TangoPoseData pose) { mAdf2DevicePoseDelta = (pose.timestamp - mAdf2DevicePreviousPoseTimeStamp) * SECONDS_TO_MILLI; mAdf2DevicePreviousPoseTimeStamp = pose.timestamp; - if (mIsRelocalized && mRenderer.isValid()) { + if (mIsRelocalized) { updateRenderer = true; - mRenderer.getGreenTrajectory().updateTrajectory(translation); } } else if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE && pose.targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) { @@ -304,13 +438,10 @@ public void onPoseAvailable(TangoPoseData pose) { mStart2DevicePoseDelta = (pose.timestamp - mStart2DevicePreviousPoseTimeStamp) * SECONDS_TO_MILLI; mStart2DevicePreviousPoseTimeStamp = pose.timestamp; - if (!mIsRelocalized && mRenderer.isValid()) { + if (!mIsRelocalized) { updateRenderer = true; - - synchronized (mRenderer.getBlueTrajectory()) { - mRenderer.getBlueTrajectory().updateTrajectory(translation); - } } + } else if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION && pose.targetFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE) { mPoses[2] = pose; @@ -327,17 +458,15 @@ public void onPoseAvailable(TangoPoseData pose) { mAdf2StartPreviousPoseTimeStamp = pose.timestamp; if (pose.statusCode == TangoPoseData.POSE_VALID) { mIsRelocalized = true; + // Set the color to green } else { mIsRelocalized = false; + // Set the color blue } } - - // Update the trajectory, model matrix, and view matrix, then - // render the scene again - if (updateRenderer && mRenderer.isValid()) { - mRenderer.getModelMatCalculator().updateModelMatrix(translation, - pose.getRotationAsFloats()); - } + } + if (updateRenderer) { + mRenderer.updateDevicePose(pose, mIsRelocalized); } } @@ -348,161 +477,52 @@ public void onFrameAvailable(int cameraId) { }); } - private void saveAdf() { - showSetNameDialog(); - } - - private void showSetNameDialog() { - Bundle bundle = new Bundle(); - if (mCurrentUUID != null) { - try { - TangoAreaDescriptionMetaData metaData = mTango - .loadAreaDescriptionMetaData(mCurrentUUID); - byte[] adfNameBytes = metaData.get(TangoAreaDescriptionMetaData.KEY_NAME); - if (adfNameBytes != null) { - String fillDialogName = new String(adfNameBytes); - bundle.putString(TangoAreaDescriptionMetaData.KEY_NAME, fillDialogName); - } - } catch (TangoErrorException e) { - } - bundle.putString(TangoAreaDescriptionMetaData.KEY_UUID, mCurrentUUID); - } - FragmentManager manager = getFragmentManager(); - SetADFNameDialog setADFNameDialog = new SetADFNameDialog(); - setADFNameDialog.setArguments(bundle); - setADFNameDialog.show(manager, "ADFNameDialog"); - } - /** - * Updates the text view in UI screen with the Pose. Each pose is associated with Target and - * Base Frame. We need to check for that pair and update our views accordingly. + * Save the current Area Description File. + * Performs saving on a background thread and displays a progress dialog. */ - private void updateTextViews() { - // Allow clicking of the save button only when Tango is localized to the current ADF. - mSaveAdfButton.setEnabled(mIsRelocalized); - if (mPoses[0] != null - && mPoses[0].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION - && mPoses[0].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) { - mAdf2DeviceTranslationTextView.setText(getTranslationString(mPoses[0])); - mAdf2DeviceQuatTextView.setText(getQuaternionString(mPoses[0])); - mAdf2DevicePoseStatusTextView.setText(getPoseStatus(mPoses[0])); - mAdf2DevicePoseCountTextView.setText(Integer.toString(mAdf2DevicePoseCount)); - mAdf2DevicePoseDeltaTextView.setText(threeDec.format(mAdf2DevicePoseDelta)); - } - - if (mPoses[1] != null - && mPoses[1].baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE - && mPoses[1].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) { - mStart2DeviceTranslationTextView.setText(getTranslationString(mPoses[1])); - mStart2DeviceQuatTextView.setText(getQuaternionString(mPoses[1])); - mStart2DevicePoseStatusTextView.setText(getPoseStatus(mPoses[1])); - mStart2DevicePoseCountTextView.setText(Integer.toString(mStart2DevicePoseCount)); - mStart2DevicePoseDeltaTextView.setText(threeDec.format(mStart2DevicePoseDelta)); - } - - if (mPoses[2] != null - && mPoses[2].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION - && mPoses[2].targetFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE) { - mAdf2StartTranslationTextView.setText(getTranslationString(mPoses[2])); - mAdf2StartQuatTextView.setText(getQuaternionString(mPoses[2])); - mAdf2StartPoseStatusTextView.setText(getPoseStatus(mPoses[2])); - mAdf2StartPoseCountTextView.setText(Integer.toString(mAdf2StartPoseCount)); - mAdf2StartPoseDeltaTextView.setText(threeDec.format(mAdf2StartPoseDelta)); - } - } - - private String getTranslationString(TangoPoseData pose) { - return "[" + threeDec.format(pose.translation[0]) + "," - + threeDec.format(pose.translation[1]) + "," + threeDec.format(pose.translation[2]) - + "] "; - - } - - private String getQuaternionString(TangoPoseData pose) { - return "[" + threeDec.format(pose.rotation[0]) + "," + threeDec.format(pose.rotation[1]) - + "," + threeDec.format(pose.rotation[2]) + "," + threeDec.format(pose.rotation[3]) - + "] "; - - } - - private String getPoseStatus(TangoPoseData pose) { - switch (pose.statusCode) { - case TangoPoseData.POSE_INITIALIZING: - return getString(R.string.pose_initializing); - case TangoPoseData.POSE_INVALID: - return getString(R.string.pose_invalid); - case TangoPoseData.POSE_VALID: - return getString(R.string.pose_valid); - default: - return getString(R.string.pose_unknown); - } - } - - @Override - protected void onPause() { - super.onPause(); - try { - mTango.disconnect(); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); - } + private void saveAdf(String adfName) { + mSaveAdfTask = new SaveAdfTask(this, this, mTango, adfName); + mSaveAdfTask.execute(); } + /** + * Handles failed save from mSaveAdfTask. + */ @Override - protected void onResume() { - super.onResume(); - // Clear the relocalization state: we don't know where the device has been since our app was paused - mIsRelocalized = false; - try { - setUpTangoListeners(); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); - } catch (SecurityException e) { - Toast.makeText(getApplicationContext(), R.string.no_permissions, Toast.LENGTH_SHORT).show(); - } - // Connect to the tango service (start receiving pose updates). - try { - mTango.connect(mConfig); - } catch (TangoOutOfDateException e) { - Toast.makeText(getApplicationContext(), R.string.tango_out_of_date_exception, Toast.LENGTH_SHORT).show(); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.tango_error, Toast.LENGTH_SHORT).show(); - } catch (TangoInvalidException e) { - Toast.makeText(getApplicationContext(), R.string.tango_invalid, Toast.LENGTH_SHORT).show(); - } + public void onSaveAdfFailed(String adfName) { + String toastMessage = String.format( + getResources().getString(R.string.save_adf_failed_toast_format), + adfName); + Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show(); + mSaveAdfTask = null; } + /** + * Handles successful save from mSaveAdfTask. + */ @Override - protected void onDestroy() { - super.onDestroy(); + public void onSaveAdfSuccess(String adfName, String adfUuid) { + String toastMessage = String.format( + getResources().getString(R.string.save_adf_success_toast_format), + adfName, adfUuid); + Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show(); + mSaveAdfTask = null; + finish(); } - // OnClick Button Listener for all the buttons - @Override - public void onClick(View v) { - switch (v.getId()) { - case R.id.first_person_button: - mRenderer.setFirstPersonView(); - break; - case R.id.top_down_button: - mRenderer.setTopDownView(); - break; - case R.id.third_person_button: - mRenderer.setThirdPersonView(); - break; - case R.id.saveAdf: - // Query the user for an ADF name and save if OK was clicked. - showSetADFNameDialog(); - break; - default: - Log.w(TAG, "Unknown button click"); - return; - } - } + /** + * Shows a dialog for setting the ADF name. + */ + private void showSetADFNameDialog() { + Bundle bundle = new Bundle(); + bundle.putString("name", "New ADF"); + bundle.putString("id", ""); // UUID is generated after the ADF is saved. - @Override - public boolean onTouchEvent(MotionEvent event) { - return mRenderer.onTouchEvent(event); + FragmentManager manager = getFragmentManager(); + SetADFNameDialog setADFNameDialog = new SetADFNameDialog(); + setADFNameDialog.setArguments(bundle); + setADFNameDialog.show(manager, "ADFNameDialog"); } /** @@ -520,7 +540,7 @@ public void run() { @Override public void run() { try { - synchronized (sharedLock) { + synchronized (mSharedLock) { if (mPoses == null) { return; @@ -542,68 +562,41 @@ public void run() { } /** - * Save the current Area Description File. - * Performs saving on a background thread and displays a progress dialog. - */ - private void saveAdf(String adfName) { - mSaveAdfTask = new SaveAdfTask(this, this, mTango, adfName); - mSaveAdfTask.execute(); - } - - /** - * Handles failed save from mSaveAdfTask. - */ - @Override - public void onSaveAdfFailed(String adfName) { - String toastMessage = String.format( - getResources().getString(R.string.save_adf_failed_toast_format), - adfName); - Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show(); - mSaveAdfTask = null; - } - - /** - * Handles successful save from mSaveAdfTask. - */ - @Override - public void onSaveAdfSuccess(String adfName, String adfUuid) { - String toastMessage = String.format( - getResources().getString(R.string.save_adf_success_toast_format), - adfName, adfUuid); - Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show(); - mSaveAdfTask = null; - finish(); - } - - /** - * Shows a dialog for setting the ADF name. + * Updates the text view in UI screen with the Pose. Each pose is associated with Target and + * Base Frame. We need to check for that pair and update our views accordingly. */ - private void showSetADFNameDialog() { - Bundle bundle = new Bundle(); - bundle.putString("name",getResources().getString(R.string.default_adf_name) ); - bundle.putString("id", ""); // UUID is generated after the ADF is saved. - - FragmentManager manager = getFragmentManager(); - SetADFNameDialog setADFNameDialog = new SetADFNameDialog(); - setADFNameDialog.setArguments(bundle); - setADFNameDialog.show(manager, "ADFNameDialog"); - } - + private void updateTextViews() { + // Allow clicking of the save button only when Tango is localized to the current ADF. + mSaveAdfButton.setEnabled(mIsRelocalized); - /** - * Implements SetADFNameDialog.CallbackListener. - */ - @Override - public void onAdfNameOk(String name, String uuid) { - saveAdf(name); - } + if (mPoses[0] != null + && mPoses[0].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION + && mPoses[0].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) { + mAdf2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[0], mThreeDecimalFormat)); + mAdf2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[0], mThreeDecimalFormat)); + mAdf2DevicePoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[0])); + mAdf2DevicePoseCountTextView.setText(Integer.toString(mAdf2DevicePoseCount)); + mAdf2DevicePoseDeltaTextView.setText(mThreeDecimalFormat.format(mAdf2DevicePoseDelta)); + } + if (mPoses[1] != null + && mPoses[1].baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE + && mPoses[1].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) { + mStart2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[1], mThreeDecimalFormat)); + mStart2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[1], mThreeDecimalFormat)); + mStart2DevicePoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[1])); + mStart2DevicePoseCountTextView.setText(Integer.toString(mStart2DevicePoseCount)); + mStart2DevicePoseDeltaTextView.setText(mThreeDecimalFormat.format(mStart2DevicePoseDelta)); + } - /** - * Implements SetADFNameDialog.CallbackListener. - */ - @Override - public void onAdfNameCancelled() { - // Continue running.s + if (mPoses[2] != null + && mPoses[2].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION + && mPoses[2].targetFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE) { + mAdf2StartTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[2], mThreeDecimalFormat)); + mAdf2StartQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[2], mThreeDecimalFormat)); + mAdf2StartPoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[2])); + mAdf2StartPoseCountTextView.setText(Integer.toString(mAdf2StartPoseCount)); + mAdf2StartPoseDeltaTextView.setText(mThreeDecimalFormat.format(mAdf2StartPoseDelta)); + } } } diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java new file mode 100644 index 00000000..40fb6c16 --- /dev/null +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java @@ -0,0 +1,140 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +package com.projecttango.experiments.javaarealearning; + +import android.content.Context; +import android.graphics.Color; +import android.view.MotionEvent; + +import com.google.atap.tangoservice.TangoPoseData; +import com.projecttango.rajawali.Pose; +import com.projecttango.rajawali.ScenePoseCalcuator; +import com.projecttango.rajawali.TouchViewHandler; +import com.projecttango.rajawali.renderables.FrustumAxes; +import com.projecttango.rajawali.renderables.Grid; +import com.projecttango.rajawali.renderables.Trajectory; + +import org.rajawali3d.math.Quaternion; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.renderer.RajawaliRenderer; + +/** + * This class implements the rendering logic for the Area Learning application using Rajawali. + */ +public class AreaLearningRajawaliRenderer extends RajawaliRenderer { + private boolean mIsRelocalized; + // Only add line segments to the trajectory if the deviced moved more than THRESHOLD meters + private static final double THRESHOLD = 0.002f; + + private static final float CAMERA_NEAR = 0.01f; + private static final float CAMERA_FAR = 200f; + + private FrustumAxes mFrustumAxes; + private Trajectory mGreenTrajectory; + private Trajectory mBlueTrajectory; + + private TouchViewHandler mTouchViewHandler; + + // Latest available device pose; + private Pose mDevicePose = new Pose(Vector3.ZERO, Quaternion.getIdentity()); + + public AreaLearningRajawaliRenderer(Context context) { + super(context); + mTouchViewHandler = new TouchViewHandler(mContext, getCurrentCamera()); + mIsRelocalized = false; + } + + @Override + protected void initScene() { + Grid grid = new Grid(100, 1); + grid.setPosition(0, -1.3f, 0); + getCurrentScene().addChild(grid); + + mFrustumAxes = new FrustumAxes(); + getCurrentScene().addChild(mFrustumAxes); + + mBlueTrajectory = new Trajectory(Color.BLUE); + getCurrentScene().addChild(mBlueTrajectory); + + mGreenTrajectory = new Trajectory(Color.GREEN); + getCurrentScene().addChild(mGreenTrajectory); + + getCurrentScene().setBackgroundColor(Color.WHITE); + + getCurrentCamera().setNearPlane(CAMERA_NEAR); + getCurrentCamera().setFarPlane(CAMERA_FAR); + } + + @Override + protected void onRender(long ellapsedRealtime, double deltaTime) { + super.onRender(ellapsedRealtime, deltaTime); + + // Update the scene objects with the latest device position and orientation information. + // Synchronize to avoid concurrent access from the Tango callback thread below. + synchronized (this) { + mFrustumAxes.setPosition(mDevicePose.getPosition()); + mFrustumAxes.setOrientation(mDevicePose.getOrientation()); + if(mIsRelocalized){ + if (mGreenTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { + mGreenTrajectory.addSegmentTo(mDevicePose.getPosition()); + } + } else { + if (mBlueTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { + mBlueTrajectory.addSegmentTo(mDevicePose.getPosition()); + } + } + mTouchViewHandler.updateCamera(mDevicePose.getPosition(), mDevicePose.getOrientation()); + } + } + + /** + * Updates our information about the current device pose. + * This is called from the Tango service thread through the callback API. Synchronize to avoid + * concurrent access from the OpenGL thread above. + * @param tangoPoseData TangoPose received from callback thread. + * @param isRelocalized Boolean which identifies if the pose is a relocalize pose or not. If + * relocalized, green trajectory gets updated, else blue trajectory gets + * updated. + */ + public synchronized void updateDevicePose(TangoPoseData tangoPoseData, boolean isRelocalized) { + mDevicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData); + mIsRelocalized = isRelocalized; + } + + @Override + public void onOffsetsChanged(float v, float v1, float v2, float v3, int i, int i1) { + + } + + @Override + public void onTouchEvent(MotionEvent motionEvent) { + mTouchViewHandler.onTouchEvent(motionEvent); + } + + public void setFirstPersonView() { + mTouchViewHandler.setFirstPersonView(); + } + + public void setTopDownView() { + mTouchViewHandler.setTopDownView(); + } + + public void setThirdPersonView() { + mTouchViewHandler.setThirdPersonView(); + } + +} diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfDialog.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfDialog.java index 8afd2003..7a53aeb3 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfDialog.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfDialog.java @@ -61,4 +61,4 @@ public void onCreate(Bundle savedInstanceState) { Log.e(TAG, "Unable to find view progress_bar."); } } -} \ No newline at end of file +} diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfTask.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfTask.java index 027d689f..d44a8bbd 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfTask.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SaveAdfTask.java @@ -92,7 +92,7 @@ protected String doInBackground(Void... params) { } /** - * Responds to progress update events by updating the UI. + * Responds to progress updates events by updating the UI. */ @Override protected void onProgressUpdate(Integer... progress) { @@ -102,7 +102,7 @@ protected void onProgressUpdate(Integer... progress) { } /** - * Dismisses the progress dialog and executes callbacks. + * Dismisses the progress dialog and call the activity. */ @Override protected void onPostExecute(String adfUuid) { @@ -117,4 +117,4 @@ protected void onPostExecute(String adfUuid) { } } } -} \ No newline at end of file +} diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SetADFNameDialog.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SetADFNameDialog.java index 47318bd4..93196c7e 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SetADFNameDialog.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/SetADFNameDialog.java @@ -29,22 +29,23 @@ import android.widget.TextView; /** - * This Class shows a dialog to set the name of an ADF. When you press okay - * SetNameLocation Call back is called where setting the name should be handled. + * Queries the user for an ADF name, optionally showing the ADF UUID. */ public class SetADFNameDialog extends DialogFragment implements OnClickListener { - private EditText mNameEditText; - private TextView mUUIDTextView; + + EditText mNameEditText; + TextView mUUIDTextView; CallbackListener mCallbackListener; interface CallbackListener { public void onAdfNameOk(String name, String uuid); public void onAdfNameCancelled(); } + @Override public void onAttach(Activity activity) { super.onAttach(activity); - mCallbackListener = (CallbackListener) activity; + mCallbackListener = (CallbackListener)activity; } @Override @@ -72,8 +73,9 @@ public View onCreateView(LayoutInflater inflator, ViewGroup container, public void onClick(View v) { switch (v.getId()) { case R.id.Ok: - mCallbackListener.onAdfNameOk(mNameEditText.getText().toString(), - mUUIDTextView.getText().toString()); + mCallbackListener.onAdfNameOk( + mNameEditText.getText().toString(), + mUUIDTextView.getText().toString()); dismiss(); break; case R.id.cancel: diff --git a/AreaLearningJava/app/src/main/res/layout/activity_area_learning.xml b/AreaLearningJava/app/src/main/res/layout/activity_area_learning.xml index abcfab21..8cec2e44 100644 --- a/AreaLearningJava/app/src/main/res/layout/activity_area_learning.xml +++ b/AreaLearningJava/app/src/main/res/layout/activity_area_learning.xml @@ -17,7 +17,7 @@ android:layout_width="wrap_content" android:layout_height="wrap_content" > - - \ No newline at end of file + diff --git a/AreaLearningJava/build.gradle b/AreaLearningJava/build.gradle index 9405f3fd..217854c1 100644 --- a/AreaLearningJava/build.gradle +++ b/AreaLearningJava/build.gradle @@ -14,6 +14,8 @@ buildscript { allprojects { repositories { + mavenLocal() + maven { url "https://oss.sonatype.org/content/repositories/snapshots/" } jcenter() } } diff --git a/AreaLearningJava/package.xml b/AreaLearningJava/package.xml new file mode 100644 index 00000000..44cb9ba3 --- /dev/null +++ b/AreaLearningJava/package.xml @@ -0,0 +1,20 @@ + + + area_learning_java + 0.0.0 + + Java Motion Tracking Sample + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + tango_java_sample_utils + + + catkin + redwood_catkin + diff --git a/AugmentedRealitySample/.gitignore b/AugmentedRealitySample/.gitignore new file mode 100644 index 00000000..9c4de582 --- /dev/null +++ b/AugmentedRealitySample/.gitignore @@ -0,0 +1,7 @@ +.gradle +/local.properties +/.idea/workspace.xml +/.idea/libraries +.DS_Store +/build +/captures diff --git a/AugmentedRealitySample/CMakeLists.txt b/AugmentedRealitySample/CMakeLists.txt new file mode 100644 index 00000000..2ce39f0a --- /dev/null +++ b/AugmentedRealitySample/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8) +project(augmented_reality_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +# This macro will also generate a depends.inc file with useful source and +# dependency information to pass on to ndk-build. +build_gradle_apk(AugmentedRealitySample + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + app/src/main/AndroidManifest.xml + JNI_DIRECTORY app/src/main/jni +) diff --git a/AugmentedRealitySample/app/.gitignore b/AugmentedRealitySample/app/.gitignore new file mode 100644 index 00000000..796b96d1 --- /dev/null +++ b/AugmentedRealitySample/app/.gitignore @@ -0,0 +1 @@ +/build diff --git a/AugmentedRealitySample/app/build.gradle b/AugmentedRealitySample/app/build.gradle new file mode 100644 index 00000000..857e16cb --- /dev/null +++ b/AugmentedRealitySample/app/build.gradle @@ -0,0 +1,48 @@ +apply plugin: 'com.android.application' + +android { + compileSdkVersion 19 + buildToolsVersion "21.1.2" + + defaultConfig { + applicationId "com.projecttango.experiments.augmentedrealitysample" + minSdkVersion 19 + targetSdkVersion 19 + versionCode 1 + versionName "1.0" + } + buildTypes { + release { + minifyEnabled false + proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro' + } + + lintOptions { + abortOnError false + } + } +} + +if (project.hasProperty("Tango.signing") + && new File(project.property("Tango.signing") + "/tango.gradle").exists()) { + apply from: project.property("Tango.signing") + "/tango.gradle"; +} + +def external_lib_prefix = null +if (project.hasProperty("Tango.catkin_devel_prefix")) { + external_lib_prefix = project.property("Tango.catkin_devel_prefix") +} else { + // Building in standalone sample form. + external_lib_prefix = "../../TangoReleaseLibs" +} + +dependencies { + compile(name: 'TangoUtils', ext: 'aar') + compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' +} + +repositories{ + flatDir{ + dirs external_lib_prefix + '/aar' + } +} diff --git a/AugmentedRealitySample/app/proguard-rules.pro b/AugmentedRealitySample/app/proguard-rules.pro new file mode 100644 index 00000000..45dc58a5 --- /dev/null +++ b/AugmentedRealitySample/app/proguard-rules.pro @@ -0,0 +1,17 @@ +# Add project specific ProGuard rules here. +# By default, the flags in this file are appended to flags specified +# in /opt/android-sdk/tools/proguard/proguard-android.txt +# You can edit the include path and order by changing the proguardFiles +# directive in build.gradle. +# +# For more details, see +# http://developer.android.com/guide/developing/tools/proguard.html + +# Add any project specific keep options here: + +# If your project uses WebView with JS, uncomment the following +# and specify the fully qualified class name to the JavaScript interface +# class: +#-keepclassmembers class fqcn.of.javascript.interface.for.webview { +# public *; +#} diff --git a/AugmentedRealitySample/app/src/main/AndroidManifest.xml b/AugmentedRealitySample/app/src/main/AndroidManifest.xml new file mode 100644 index 00000000..b05d93e7 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/AndroidManifest.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + diff --git a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java new file mode 100644 index 00000000..4af5f72f --- /dev/null +++ b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java @@ -0,0 +1,155 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.experiments.augmentedrealitysample; + +import java.util.ArrayList; +import java.util.concurrent.atomic.AtomicBoolean; + +import android.app.Activity; +import android.content.Intent; +import android.os.Bundle; +import android.widget.Toast; + +import com.google.atap.tangoservice.Tango; +import com.google.atap.tangoservice.Tango.OnTangoUpdateListener; +import com.google.atap.tangoservice.TangoCameraIntrinsics; +import com.google.atap.tangoservice.TangoConfig; +import com.google.atap.tangoservice.TangoCoordinateFramePair; +import com.google.atap.tangoservice.TangoEvent; +import com.google.atap.tangoservice.TangoPoseData; +import com.google.atap.tangoservice.TangoXyzIjData; +import com.projecttango.rajawali.ar.TangoRajawaliView; + +/** + * An example showing how to build a very simple augmented reality application in Java. + * It uses Rajawali to do the rendering through the utility classes + * TangoRajawaliRenderer and TangoRajawaliView from TangoUtils. + *

+ * TangoRajawaliView is used in the same way as the TangoCamaraPreview: we first need initialize the + * TangoRajawaliView class with the activity's context and connect to the camera we want by using + * connectToTangoCamera method. Once the connection is established we need to update + * the view's texture by using the onFrameAvailable callbacks. + *

+ * The TangoRajawaliRenderer class is used the same way as a RajawaliRenderer. We need to create it + * with a reference to the activity's context and then pass it to the view with the view's + * setSurfaceRenderer method. + * The implementation of the 3D world is done by subclassing the Renderer, just like any other + * Rajawali application. + *

+ * Note that it is important to include the KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION configuration parameter in + * order to achieve best results synchronizing the Rajawali virtual world with the RGB camera. + */ +public class AugmentedRealityActivity extends Activity { + private TangoRajawaliView mGLView; + private AugmentedRealityRenderer mRenderer; + private Tango mTango; + private boolean mIsConnected; + private boolean mIsPermissionGranted; + + @Override + protected void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + mGLView = new TangoRajawaliView(this); + mRenderer = new AugmentedRealityRenderer(this); + mGLView.setSurfaceRenderer(mRenderer); + mTango = new Tango(this); + startActivityForResult( + Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING), + Tango.TANGO_INTENT_ACTIVITYCODE); + setContentView(mGLView); + } + + @Override + protected void onActivityResult(int requestCode, int resultCode, Intent data) { + // Check which request we're responding to + if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) { + // Make sure the request was successful + if (resultCode == RESULT_CANCELED) { + Toast.makeText(this, "Motion Tracking Permissions Required!", + Toast.LENGTH_SHORT).show(); + finish(); + } else { + startAugmentedreality(); + mIsPermissionGranted = true; + } + } + } + + // Augmented reality view and renderer + private void startAugmentedreality() { + if (!mIsConnected) { + // Connect to color camera + mGLView.connectToTangoCamera(mTango, + TangoCameraIntrinsics.TANGO_CAMERA_COLOR); + + // Use default configuration for Tango Service, plus low latency IMU integration. + TangoConfig config = mTango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT); + // NOTE: low latency integration is necessary to achieve a precise alignment of + // virtual objects with the RBG image and produce a good AR effect. + config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true); + mTango.connect(config); + mIsConnected = true; + + // No need to add any coordinate frame pairs since we are not using + // pose data. So just initialize. + ArrayList framePairs = new ArrayList(); + mTango.connectListener(framePairs, new OnTangoUpdateListener() { + @Override + public void onPoseAvailable(TangoPoseData pose) { + // We are not using OnPoseAvailable for this app + } + + @Override + public void onFrameAvailable(int cameraId) { + // Check if the frame available is for the camera we want and + // update its frame on the view. + if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_COLOR) { + mGLView.onFrameAvailable(); + } + } + + @Override + public void onXyzIjAvailable(TangoXyzIjData xyzIj) { + // We are not using OnPoseAvailable for this app + } + + @Override + public void onTangoEvent(TangoEvent event) { + // We are not using OnPoseAvailable for this app + } + }); + } + } + + + @Override + protected void onPause() { + super.onPause(); + if (mIsConnected) { + mGLView.disconnectCamera(); + mTango.disconnect(); + mIsConnected = false; + } + } + + @Override + protected void onResume() { + super.onResume(); + if (!mIsConnected && mIsPermissionGranted) { + startAugmentedreality(); + } + } +} diff --git a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java new file mode 100644 index 00000000..3d9fccb7 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java @@ -0,0 +1,86 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.experiments.augmentedrealitysample; + +import android.content.Context; +import android.view.MotionEvent; + +import com.projecttango.rajawali.ar.TangoRajawaliRenderer; + +import org.rajawali3d.Object3D; +import org.rajawali3d.lights.DirectionalLight; +import org.rajawali3d.materials.Material; +import org.rajawali3d.materials.methods.DiffuseMethod; +import org.rajawali3d.primitives.NPrism; +import org.rajawali3d.primitives.Sphere; + +/** + * Very simple example augmented reality renderer which displays two objects in a fixed position + * in the world and the uses the Tango position tracking to keep them in place. + *

+ * This follows the same development model than any regular Rajawali application with the following + * peculiarities: + * - It extends TangoRajawaliArRenderer + * - It calls super.initScene() in the initialization + * - It doesn't do anything with the camera, since that is handled automatically by Tango + */ +public class AugmentedRealityRenderer extends TangoRajawaliRenderer { + + public AugmentedRealityRenderer(Context context) { + super(context); + } + + @Override + protected void initScene() { + // Remember to call super.initScene() to allow TangoRajawaliArRenderer to set-up + super.initScene(); + + // Add a directional light in an arbitrary direction + DirectionalLight light = new DirectionalLight(1, 0.2, -1); + light.setColor(1, 1, 1); + light.setPower(0.8f); + light.setPosition(3, 2, 4); + getCurrentScene().addLight(light); + + // Set-up a material: green with application of the light + Material material = new Material(); + material.setColor(0xff009900); + material.enableLighting(true); + material.setDiffuseMethod(new DiffuseMethod.Lambert()); + + // Build a pyramid and place it roughly in front and a bit to the right + Object3D object1 = new NPrism(4, 0f, 0.2f, 0.2f); + object1.setMaterial(material); + object1.setPosition(-0.25, 0, -1); + getCurrentScene().addChild(object1); + + // Build a sphere and place it roughly in front and a bit to the left + object1 = new Sphere(0.1f, 24, 24); + object1.setMaterial(material); + object1.setPosition(0.25, 0, -1); + getCurrentScene().addChild(object1); + } + + @Override + public void onOffsetsChanged(float xOffset, float yOffset, float xOffsetStep, float yOffsetStep, int xPixelOffset, int yPixelOffset) { + + } + + @Override + public void onTouchEvent(MotionEvent event) { + + } +} diff --git a/AugmentedRealitySample/app/src/main/res/drawable-xxhdpi/ic_launcher.png b/AugmentedRealitySample/app/src/main/res/drawable-xxhdpi/ic_launcher.png new file mode 100644 index 0000000000000000000000000000000000000000..2a715aca8a04775ce8b0d0bd7989b3cb03f36294 GIT binary patch literal 31047 zcmeIbc|6tI7eD+t=Qzl8h@!}pc~&^caD+0?A(WZSa?Im7x|tf35}8v-G9{AnR4z@1 z%(GK66NSiho_%z`_v<_TdVbIA`7^IqFWdgCz4qGgwf5R;uf6xZ@kR!x>1htrKoCT) zt)*cCL2yunL)4Vu*Gh2r2KcqlSL-Ymf+UWT|G|RuR0APMp4ZLH(%({FPtnoGOTymC z$H7@5*vl7CLy(ecu&=$NhqFJogR`rfw=(ZyZ6hzYo0BrHg{;1mzOTCT1vjlwKWEcW z12e}^4@U(jUR4zurC>$Cz{}a+o;%pf(;KT8tjxR1R}qxS)snp2yCnV|%Digi4!JG$ zjkwi){G7REC1k}NrH)B+qZK5iWn~nkrNy|9Nl71xWl` z29%WioLm%5G*1219r#O`_kzE_ucD-6P*9LW&~XVLKUYa<1qB63sbiAIj)?;bacqdU zzkRT{H}>dHCja20;f!_kbMy6g^YP{;^R;*I3Gi3uFnw3%k$(fhl( z{8Ksq!ioIlf6DG0?DjvJk-z+GwrdJMHKYW_s;KVgZ13;mXXfMMsq)jxjQ#;3x4JsF zkiNa6n>QI!VI|3br~jw2|H;Z(!`|On1sJ0YFhgW{A161LkpJKTnjTj?uCSNK9?E~`0Va==y}$kcD=vF!_waFYRCMw2^Ro9>ar3fw zb(Zw?c2$!6XXPHszfDR}-N)0%4~XTga$HIBzg6#PwQFXI+TK`ydv8Z)Z4DJrA>roc zqC^v|K7sLE!f%9Qo{{QUo6=uWu-w^yN&++%YSWo_J6kA^X0FWKh?EoG2hkZ&sq>F zfG9=s?=a2`2V@^&msN)%y=)m-<|A5%aQzaZy#&AE+Ka|7%fI3JB}97( ze#5mFjbE03!}Uvu_7ePtYcCqVEdPez5GiCHM{3UNnAL{teeJA=*pu z8?L=*{IdKTu3tj5m*6*Cd(rr1`8Qm@glI3pZ@BiN@yqgWxPA%IUV`6n?M364<==4q z5~95Xzv0@8#xKji;rb;+dkKESwHJ+FmVd+bONjOo{Dx~U8ow<6AK{|;=fgi|Z}8eL z2t4b{>6Ur{o&<6`YMJOmP$)kH;VwbY4-)u213>{&5HxECL5ism#Ojk|`{yYL!enb} zsF?*1&X0uMc6K{AMp`Sh4hrZi4%;}UJfhsS_GM->0(0ZaDK%dlwc=Hp{T+umD5*cE zIBBND@HJQNA9vQgxfMBj(s!STbi(1IG&CYPZw#a1mzZ5RQtxJM=FN2ms0v1fXY2RL zoEa&2)HdLnT`^W#8LDp>6p*RdKI*#I9+|bctdwk39K)wAk|L3gN#aA`KoPIAP^DZI zeb||T4Ke9Oqy2;mGjWka-t)Lt5)3m@A-PJSl|%=L;O*_`rH~m^8(#ahk3kQY>GL5e z*b2-QpU}#yO$h}=qA=o_rj7*4Tmejy6J$ii4xj8?6cwfzrkH=~#`gxwY3rtXJn_7X z^oYPuiD|SgE zh2$VY5Gp$)?`}#a%fvF!!;V}0NP8^gD|ry9LvCpgS+-R6kxKV_P;gL{R1A>2{a%G< zBbA;XpL>!^2qEfipvnCXc5gU`dzrKJr<}x*iR8?9%%O~PlZ}TERq)fEC&@$HUSXDn zD&B1c4ZO!~6RyeK=Q{*-pO11T!(Ui)Appertd7I2% z5PDzoY0M&S8{P|>@-iTkt@kpXTdOGAQaNi(JV?CJDgt0TFr;X%veRfuU9H7}^saQ{ z2eN!R%-y`;LBA1s#xBj0%dUSi88A$6dw@ri9<$n|z0<@;$dvNA(KNc$E zl6Pa)1pxe6`=itemJ_N@VDnY}iOJ<-TJPZx<-W=`<1Z2D<(`on(uJ_hv@*Yf6~v8F zlA#or(-?0dmHJQU;78Qs>>buLs{FWBSZ@d$8Q$>hrcJj<7}2CuIddm$ z6l(!mzHL{u^STlWJzvL2b^co;NEvr*9#H-m4%6?2M^)g>Jo$B%QR z-B>90R&L=o7PD9&tlc?)Y=cde2^oQ=p#~^S<)txOFwd?GQRyCov}})S zxCWAJ55b#ptpq02bD)p6C5h7qvn5}IwVouXtbg-1Tg~SmROVDMWlHgk-sJc6>JprB=Dxw86 zrbpRnx@4n07FA_JJWoamhT(sLXG4_UsiqgBxee4m^Z41m26Glm{#jTkaBskyZCvw_ zAKCJ}B1B_Dl~Jxho)T|1;txXz!UUrfjVIE(YPYU1=HgaVIinOM2jpG0TN59nBzREP zkd7)t&x>q=0X9(CX4Kd7xI+%kP0Q6LIbbM?uMayQF$h8@54W}O(t}nWU>XMH3@xO& zeK1GDDnTt>9mtqz2Tk8oVuy;G<$bC9?M=x;8Mzj`Txtzm4=+-XY>dUgZarga#KdTn z#;3^sdLew-HW7(?M-O9edcW@(3Mk9S`Y=VW1B|G1lE7Auxgm#tWI;e;wrvE@H z;O*oM!2bjVE}^xfEDI-XccQFsx9a9KM#p~ljEh9-vYvc0jd8Z+X8C60hsn4!TvyW# z901fzXwG*hsv^3_e`7JkArVO)kJKp>$d@`tfyXY|(rM<8U1WFhd4mZTWgdwg_NV|XK#CBqRVa% zA%_V+NX7HW*XA@z+THeKte^K&uY6jM5>+QSDN;^ta{$zYB)Z$28tuB#f|qVk31G~j(ISAMU93KNhFzxgjJ_^Mo|)VU%0Lm^A{u$? 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+ + + + diff --git a/AugmentedRealitySample/app/src/main/res/values-v11/styles.xml b/AugmentedRealitySample/app/src/main/res/values-v11/styles.xml new file mode 100644 index 00000000..3c02242a --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values-v11/styles.xml @@ -0,0 +1,11 @@ + + + + + + diff --git a/AugmentedRealitySample/app/src/main/res/values-v14/styles.xml b/AugmentedRealitySample/app/src/main/res/values-v14/styles.xml new file mode 100644 index 00000000..a91fd037 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values-v14/styles.xml @@ -0,0 +1,12 @@ + + + + + + diff --git a/AugmentedRealitySample/app/src/main/res/values-w820dp/dimens.xml b/AugmentedRealitySample/app/src/main/res/values-w820dp/dimens.xml new file mode 100644 index 00000000..f3e70203 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values-w820dp/dimens.xml @@ -0,0 +1,10 @@ + + + + 64dp + + diff --git a/AugmentedRealitySample/app/src/main/res/values/dimens.xml b/AugmentedRealitySample/app/src/main/res/values/dimens.xml new file mode 100644 index 00000000..55c1e590 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values/dimens.xml @@ -0,0 +1,7 @@ + + + + 16dp + 16dp + + diff --git a/AugmentedRealitySample/app/src/main/res/values/strings.xml b/AugmentedRealitySample/app/src/main/res/values/strings.xml new file mode 100644 index 00000000..dd880179 --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values/strings.xml @@ -0,0 +1,8 @@ + + + + AugmentedRealitySample + Hello world! + Settings + + diff --git a/AugmentedRealitySample/app/src/main/res/values/styles.xml b/AugmentedRealitySample/app/src/main/res/values/styles.xml new file mode 100644 index 00000000..6ce89c7b --- /dev/null +++ b/AugmentedRealitySample/app/src/main/res/values/styles.xml @@ -0,0 +1,20 @@ + + + + + + + + + diff --git a/AugmentedRealitySample/build.gradle b/AugmentedRealitySample/build.gradle new file mode 100644 index 00000000..217854c1 --- /dev/null +++ b/AugmentedRealitySample/build.gradle @@ -0,0 +1,21 @@ +// Top-level build file where you can add configuration options common to all sub-projects/modules. + +buildscript { + repositories { + jcenter() + } + dependencies { + classpath 'com.android.tools.build:gradle:1.2.3' + + // NOTE: Do not place your application dependencies here; they belong + // in the individual module build.gradle files + } +} + +allprojects { + repositories { + mavenLocal() + maven { url "https://oss.sonatype.org/content/repositories/snapshots/" } + jcenter() + } +} diff --git a/AugmentedRealitySample/gradle.properties b/AugmentedRealitySample/gradle.properties new file mode 100644 index 00000000..1d3591c8 --- /dev/null +++ b/AugmentedRealitySample/gradle.properties @@ -0,0 +1,18 @@ +# Project-wide Gradle settings. + +# IDE (e.g. Android Studio) users: +# Gradle settings configured through the IDE *will override* +# any settings specified in this file. + +# For more details on how to configure your build environment visit +# http://www.gradle.org/docs/current/userguide/build_environment.html + +# Specifies the JVM arguments used for the daemon process. +# The setting is particularly useful for tweaking memory settings. +# Default value: -Xmx10248m -XX:MaxPermSize=256m +# org.gradle.jvmargs=-Xmx2048m -XX:MaxPermSize=512m -XX:+HeapDumpOnOutOfMemoryError -Dfile.encoding=UTF-8 + +# When configured, Gradle will run in incubating parallel mode. +# This option should only be used with decoupled projects. 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PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >&- +APP_HOME="`pwd -P`" +cd "$SAVED" >&- + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules +function splitJvmOpts() { + JVM_OPTS=("$@") +} +eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS +JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" + +exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" diff --git a/AugmentedRealitySample/gradlew.bat b/AugmentedRealitySample/gradlew.bat new file mode 100644 index 00000000..aec99730 --- /dev/null +++ b/AugmentedRealitySample/gradlew.bat @@ -0,0 +1,90 @@ +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS= + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windowz variants + +if not "%OS%" == "Windows_NT" goto win9xME_args +if "%@eval[2+2]" == "4" goto 4NT_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* +goto execute + +:4NT_args +@rem Get arguments from the 4NT Shell from JP Software +set CMD_LINE_ARGS=%$ + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/AugmentedRealitySample/package.xml b/AugmentedRealitySample/package.xml new file mode 100644 index 00000000..ba221f06 --- /dev/null +++ b/AugmentedRealitySample/package.xml @@ -0,0 +1,22 @@ + + + augmented_reality_java + 0.0.0 + + Basic Java Augmented Reality Example + + + r4ravi2008 + adamantivm + + Apache 2.0 + + + tango_java_lib + tango_java_sample_utils + + + catkin + redwood_catkin + Experimental + \ No newline at end of file diff --git a/AugmentedRealitySample/settings.gradle b/AugmentedRealitySample/settings.gradle new file mode 100644 index 00000000..e7b4def4 --- /dev/null +++ b/AugmentedRealitySample/settings.gradle @@ -0,0 +1 @@ +include ':app' diff --git a/MotionTrackingJava/CMakeLists.txt b/MotionTrackingJava/CMakeLists.txt new file mode 100644 index 00000000..d4957da8 --- /dev/null +++ b/MotionTrackingJava/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8) +project(motion_tracking_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +# This macro will also generate a depends.inc file with useful source and +# dependency information to pass on to ndk-build. +build_gradle_apk(JavaMotionTracking + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + app/src/main/AndroidManifest.xml + JNI_DIRECTORY app/src/main/jni +) diff --git a/MotionTrackingJava/app/build.gradle b/MotionTrackingJava/app/build.gradle index 09add43a..396bca1a 100644 --- a/MotionTrackingJava/app/build.gradle +++ b/MotionTrackingJava/app/build.gradle @@ -39,6 +39,7 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { dependencies { compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) compile(name: 'TangoUtils', ext: 'aar') + compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } repositories{ diff --git a/MotionTrackingJava/app/src/main/AndroidManifest.xml b/MotionTrackingJava/app/src/main/AndroidManifest.xml index e0f7e7eb..8017e280 100644 --- a/MotionTrackingJava/app/src/main/AndroidManifest.xml +++ b/MotionTrackingJava/app/src/main/AndroidManifest.xml @@ -34,7 +34,7 @@ @@ -44,7 +44,7 @@ + android:screenOrientation="nosensor"> diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java index 740e18e9..d8eccb55 100644 --- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java +++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java @@ -25,12 +25,12 @@ import com.google.atap.tangoservice.TangoOutOfDateException; import com.google.atap.tangoservice.TangoPoseData; import com.google.atap.tangoservice.TangoXyzIjData; +import com.projecttango.tangoutils.TangoPoseUtilities; import android.app.Activity; import android.content.Intent; import android.content.pm.PackageInfo; import android.content.pm.PackageManager.NameNotFoundException; -import android.opengl.GLSurfaceView; import android.os.Bundle; import android.util.Log; import android.view.MotionEvent; @@ -39,18 +39,21 @@ import android.widget.TextView; import android.widget.Toast; +import org.rajawali3d.surface.RajawaliSurfaceView; + import java.text.DecimalFormat; import java.util.ArrayList; /** * Main Activity class for the Motion Tracking API Sample. Handles the connection to the Tango * service and propagation of Tango pose data to OpenGL and Layout views. OpenGL rendering logic is - * delegated to the {@link MTGLRenderer} class. + * delegated to the {@link MotionTrackingRajawaliRenderer} class. */ public class MotionTrackingActivity extends Activity implements View.OnClickListener { private static final String TAG = MotionTrackingActivity.class.getSimpleName(); private static final int SECS_TO_MILLISECS = 1000; + private static final int UPDATE_INTERVAL_MS = 100; private Tango mTango; private TangoConfig mConfig; private TextView mDeltaTextView; @@ -64,15 +67,12 @@ public class MotionTrackingActivity extends Activity implements View.OnClickList private Button mMotionResetButton; private float mPreviousTimeStamp; private int mPreviousPoseStatus; - private int count; + private int mCount; private float mDeltaTime; private boolean mIsAutoRecovery; - private MTGLRenderer mRenderer; - private GLSurfaceView mGLView; - private boolean mIsProcessing = false; + private MotionTrackingRajawaliRenderer mRenderer; private TangoPoseData mPose; - private static final int UPDATE_INTERVAL_MS = 100; - public static Object sharedLock = new Object(); + public static Object mUiThreadLock = new Object(); @Override protected void onCreate(Bundle savedInstanceState) { @@ -81,55 +81,60 @@ protected void onCreate(Bundle savedInstanceState) { Intent intent = getIntent(); mIsAutoRecovery = intent.getBooleanExtra(StartActivity.KEY_MOTIONTRACKING_AUTORECOVER, false); + // Instantiate the Tango service + mTango = new Tango(this); + mConfig = setupTangoConfig(mTango, mIsAutoRecovery); + setupTextViewsAndButtons(mConfig); + mRenderer = setupGLViewAndRenderer(); + startUIThread(); + } + + /** + * Sets Rajawalisurface view and its renderer. This is ideally called only once in onCreate. + */ + private MotionTrackingRajawaliRenderer setupGLViewAndRenderer(){ + + // Configure OpenGL renderer + MotionTrackingRajawaliRenderer renderer = new MotionTrackingRajawaliRenderer(this); + // OpenGL view where all of the graphics are drawn + RajawaliSurfaceView glView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); + glView.setEGLContextClientVersion(2); + glView.setSurfaceRenderer(renderer); + return renderer; + + } + + /** + * Sets Texts views to display statistics of Poses being received. This also sets the buttons + * used in the UI. Please note that this needs to be called after TangoService and Config + * objects are initialized since we use them for the SDK related stuff like version number + * etc. + */ + private void setupTextViewsAndButtons(TangoConfig config){ // Text views for displaying translation and rotation data mPoseTextView = (TextView) findViewById(R.id.pose); mQuatTextView = (TextView) findViewById(R.id.quat); mPoseCountTextView = (TextView) findViewById(R.id.posecount); mDeltaTextView = (TextView) findViewById(R.id.deltatime); mTangoEventTextView = (TextView) findViewById(R.id.tangoevent); - // Buttons for selecting camera view and Set up button click listeners - findViewById(R.id.first_person_button).setOnClickListener(this); - findViewById(R.id.third_person_button).setOnClickListener(this); - findViewById(R.id.top_down_button).setOnClickListener(this); - - // Button to reset motion tracking - mMotionResetButton = (Button) findViewById(R.id.resetmotion); // Text views for the status of the pose data and Tango library versions mPoseStatusTextView = (TextView) findViewById(R.id.status); mTangoServiceVersionTextView = (TextView) findViewById(R.id.version); mApplicationVersionTextView = (TextView) findViewById(R.id.appversion); - // OpenGL view where all of the graphics are drawn - mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view); + // Buttons for selecting camera view and Set up button click listeners + findViewById(R.id.first_person_button).setOnClickListener(this); + findViewById(R.id.third_person_button).setOnClickListener(this); + findViewById(R.id.top_down_button).setOnClickListener(this); + // Button to reset motion tracking + mMotionResetButton = (Button) findViewById(R.id.resetmotion); // Set up button click listeners mMotionResetButton.setOnClickListener(this); - // Configure OpenGL renderer - mRenderer = new MTGLRenderer(); - mGLView.setEGLContextClientVersion(2); - mGLView.setRenderer(mRenderer); - - // Instantiate the Tango service - mTango = new Tango(this); - // Create a new Tango Configuration and enable the MotionTrackingActivity API - mConfig = new TangoConfig(); - mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT); - mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true); - - // The Auto-Recovery ToggleButton sets a boolean variable to determine - // if the - // Tango service should automatically attempt to recover when - // / MotionTrackingActivity enters an invalid state. - if (mIsAutoRecovery) { - mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, true); - Log.i(TAG, "Auto Reset On"); - } else { - mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, false); - Log.i(TAG, "Auto Reset Off"); - } - + // Display the library version for debug purposes + mTangoServiceVersionTextView.setText(config.getString("tango_service_library_version")); PackageInfo packageInfo; try { packageInfo = this.getPackageManager().getPackageInfo(this.getPackageName(), 0); @@ -137,14 +142,29 @@ protected void onCreate(Bundle savedInstanceState) { } catch (NameNotFoundException e) { e.printStackTrace(); } + } - // Display the library version for debug purposes - mTangoServiceVersionTextView.setText(mConfig.getString("tango_service_library_version")); - startUIThread(); + /** + * Sets up the tango configuration object. Make sure mTango object is initialized before + * making this call. + */ + private TangoConfig setupTangoConfig(Tango tango, boolean isAutoRecovery){ + // Create a new Tango Configuration and enable the MotionTrackingActivity API + TangoConfig config = new TangoConfig(); + config = tango.getConfig(config.CONFIG_TYPE_CURRENT); + config.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true); + + // The Auto-Recovery ToggleButton sets a boolean variable to determine + // if the + // Tango service should automatically attempt to recover when + // / MotionTrackingActivity enters an invalid state. + config.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, isAutoRecovery); + Log.i(TAG, "Auto Reset: " + mIsAutoRecovery); + return config; } /** - * Set up the TangoConfig and the listeners for the Tango service, then begin using the Motion + * Set up the callback listeners for the Tango service, then begin using the Motion * Tracking API. This is called in response to the user clicking the 'Start' Button. */ private void setTangoListeners() { @@ -154,16 +174,24 @@ private void setTangoListeners() { framePairs.add(new TangoCoordinateFramePair( TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE, TangoPoseData.COORDINATE_FRAME_DEVICE)); + // Listen for new Tango data mTango.connectListener(framePairs, new OnTangoUpdateListener() { @Override public void onPoseAvailable(final TangoPoseData pose) { - //Make sure to have atomic access to Tango Pose Data so that - //render loop doesn't interfere while Pose call back is updating - // the data. - synchronized (sharedLock) { + // Update the OpenGL renderable objects with the new Tango Pose data. + // Note that locking for thread safe access with the OpenGL loop is done entirely + // in the renderer. + mRenderer.updateDevicePose(pose); + + // Make sure to have atomic access to Tango Pose Data so that the UI + // the UI loop doesn't interfere while Pose call back is updating the data + synchronized (mUiThreadLock) { mPose = pose; + + //Now lets log some interesting statistics of Motion Tracking like + // Delta Time between two Poses, number of poses since the initialization state. mDeltaTime = (float) (pose.timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS; mPreviousTimeStamp = (float) pose.timestamp; // Log whenever Motion Tracking enters an invalid state @@ -171,19 +199,10 @@ public void onPoseAvailable(final TangoPoseData pose) { Log.w(TAG, "Invalid State"); } if (mPreviousPoseStatus != pose.statusCode) { - count = 0; + mCount = 0; } - count++; + mCount++; mPreviousPoseStatus = pose.statusCode; - // Update the OpenGL renderable objects with the new Tango Pose - // data - float[] translation = pose.getTranslationAsFloats(); - if(!mRenderer.isValid()){ - return; - } - mRenderer.getTrajectory().updateTrajectory(translation); - mRenderer.getModelMatCalculator().updateModelMatrix(translation, - pose.getRotationAsFloats()); } } @@ -209,6 +228,11 @@ public void onFrameAvailable(int cameraId) { }); } + /** + * Reset motion tracking to last known valid pose. Once this function is called, + * Motion Tracking restarts as such we may get initializing poses again. Developer should make + * sure that user gets enough feed back in that case. + */ private void motionReset() { mTango.resetMotionTracking(); } @@ -223,6 +247,7 @@ protected void onPause() { } } + @Override protected void onResume() { super.onResume(); try { @@ -241,14 +266,6 @@ protected void onResume() { } catch (TangoErrorException e) { Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show(); } - try { - setUpExtrinsics(); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show(); - } catch (SecurityException e) { - Toast.makeText(getApplicationContext(), R.string.motiontrackingpermission, - Toast.LENGTH_SHORT).show(); - } } @Override @@ -259,51 +276,30 @@ protected void onDestroy() { @Override public void onClick(View v) { switch (v.getId()) { - case R.id.first_person_button: - mRenderer.setFirstPersonView(); - break; - case R.id.top_down_button: - mRenderer.setTopDownView(); - break; - case R.id.third_person_button: - mRenderer.setThirdPersonView(); - break; - case R.id.resetmotion: - motionReset(); - break; - default: - Log.w(TAG, "Unknown button click"); - return; + case R.id.first_person_button: + mRenderer.setFirstPersonView(); + break; + case R.id.top_down_button: + mRenderer.setTopDownView(); + break; + case R.id.third_person_button: + mRenderer.setThirdPersonView(); + break; + case R.id.resetmotion: + motionReset(); + break; + default: + Log.w(TAG, "Unknown button click"); + return; } } @Override public boolean onTouchEvent(MotionEvent event) { - return mRenderer.onTouchEvent(event); - } - - /** - * Setup the extrinsics of the device. - */ - private void setUpExtrinsics() { - // Get device to imu matrix. - TangoPoseData device2IMUPose = new TangoPoseData(); - TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(); - framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; - framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE; - device2IMUPose = mTango.getPoseAtTime(0.0, framePair); - mRenderer.getModelMatCalculator().SetDevice2IMUMatrix( - device2IMUPose.getTranslationAsFloats(), device2IMUPose.getRotationAsFloats()); - - // Get color camera to imu matrix. - TangoPoseData color2IMUPose = new TangoPoseData(); - framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; - framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR; - color2IMUPose = mTango.getPoseAtTime(0.0, framePair); - - mRenderer.getModelMatCalculator().SetColorCamera2IMUMatrix( - color2IMUPose.getTranslationAsFloats(), color2IMUPose.getRotationAsFloats()); + mRenderer.onTouchEvent(event); + return true; } + /** * Create a separate thread to update Log information on UI at the specified * interval of UPDATE_INTERVAL_MS. This function also makes sure to have access @@ -321,35 +317,21 @@ public void run() { @Override public void run() { try { - synchronized (sharedLock) { + synchronized (mUiThreadLock) { if (mPose == null) { return; } - - String translationString = "[" - + threeDec.format(mPose.translation[0]) + ", " - + threeDec.format(mPose.translation[1]) + ", " - + threeDec.format(mPose.translation[2]) + "] "; - String quaternionString = "[" - + threeDec.format(mPose.rotation[0]) + ", " - + threeDec.format(mPose.rotation[1]) + ", " - + threeDec.format(mPose.rotation[2]) + ", " - + threeDec.format(mPose.rotation[3]) + "] "; - + String translationString = + TangoPoseUtilities.getTranslationString(mPose, threeDec); + String quaternionString = + TangoPoseUtilities.getQuaternionString(mPose, threeDec); + String status = TangoPoseUtilities.getStatusString(mPose); // Display pose data on screen in TextViews mPoseTextView.setText(translationString); mQuatTextView.setText(quaternionString); - mPoseCountTextView.setText(Integer.toString(count)); + mPoseCountTextView.setText(Integer.toString(mCount)); mDeltaTextView.setText(threeDec.format(mDeltaTime)); - if (mPose.statusCode == TangoPoseData.POSE_VALID) { - mPoseStatusTextView.setText(R.string.pose_valid); - } else if (mPose.statusCode == TangoPoseData.POSE_INVALID) { - mPoseStatusTextView.setText(R.string.pose_invalid); - } else if (mPose.statusCode == TangoPoseData.POSE_INITIALIZING) { - mPoseStatusTextView.setText(R.string.pose_initializing); - } else if (mPose.statusCode == TangoPoseData.POSE_UNKNOWN) { - mPoseStatusTextView.setText(R.string.pose_unknown); - } + mPoseStatusTextView.setText(status); } } catch (NullPointerException e) { e.printStackTrace(); @@ -364,4 +346,4 @@ public void run() { } }).start(); } -} +} \ No newline at end of file diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java new file mode 100644 index 00000000..7354d4fc --- /dev/null +++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java @@ -0,0 +1,127 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +package com.projecttango.experiments.javamotiontracking; + +import android.content.Context; +import android.graphics.Color; +import android.view.MotionEvent; + +import com.google.atap.tangoservice.TangoPoseData; +import com.projecttango.rajawali.Pose; +import com.projecttango.rajawali.TouchViewHandler; +import com.projecttango.rajawali.renderables.FrustumAxes; +import com.projecttango.rajawali.renderables.Grid; +import com.projecttango.rajawali.ScenePoseCalcuator; +import com.projecttango.rajawali.renderables.Trajectory; + +import org.rajawali3d.math.Quaternion; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.renderer.RajawaliRenderer; + +/** + * This class implements the rendering logic for the Motion Tracking application using Rajawali. + */ +public class MotionTrackingRajawaliRenderer extends RajawaliRenderer { + + private final String TAG = ScenePoseCalcuator.class.getSimpleName(); + + // Only add line segments to the trajectory if the deviced moved more than THRESHOLD meters + private static final double THRESHOLD = 0.002f; + + private static final float CAMERA_NEAR = 0.01f; + private static final float CAMERA_FAR = 200f; + + private FrustumAxes mFrustumAxes; + private Trajectory mTrajectory; + + private TouchViewHandler touchViewHandler; + + // Latest available device pose; + private Pose devicePose = new Pose(Vector3.ZERO, Quaternion.getIdentity()); + + public MotionTrackingRajawaliRenderer(Context context) { + super(context); + touchViewHandler = new TouchViewHandler(mContext, getCurrentCamera()); + } + + @Override + protected void initScene() { + Grid grid = new Grid(100, 1); + grid.setPosition(0, -1.3f, 0); + getCurrentScene().addChild(grid); + + mFrustumAxes = new FrustumAxes(); + getCurrentScene().addChild(mFrustumAxes); + + mTrajectory = new Trajectory(Color.BLUE); + getCurrentScene().addChild(mTrajectory); + + getCurrentScene().setBackgroundColor(Color.WHITE); + + getCurrentCamera().setNearPlane(CAMERA_NEAR); + getCurrentCamera().setFarPlane(CAMERA_FAR); + } + + @Override + protected void onRender(long ellapsedRealtime, double deltaTime) { + super.onRender(ellapsedRealtime, deltaTime); + + // Update the scene objects with the latest device position and orientation information. + // Synchronize to avoid concurrent access from the Tango callback thread below. + synchronized (this) { + mFrustumAxes.setPosition(devicePose.getPosition()); + mFrustumAxes.setOrientation(devicePose.getOrientation()); + + if (mTrajectory.getLastPoint().distanceTo2(devicePose.getPosition()) > THRESHOLD) { + mTrajectory.addSegmentTo(devicePose.getPosition()); + } + + touchViewHandler.updateCamera(devicePose.getPosition(), devicePose.getOrientation()); + } + } + + /** + * Updates our information about the current device pose. + * This is called from the Tango service thread through the callback API. Synchronize to avoid + * concurrent access from the OpenGL thread above. + */ + public synchronized void updateDevicePose(TangoPoseData tangoPoseData) { + devicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData); + } + + @Override + public void onOffsetsChanged(float v, float v1, float v2, float v3, int i, int i1) { + + } + + @Override + public void onTouchEvent(MotionEvent motionEvent) { + touchViewHandler.onTouchEvent(motionEvent); + } + + public void setFirstPersonView() { + touchViewHandler.setFirstPersonView(); + } + + public void setTopDownView() { + touchViewHandler.setTopDownView(); + } + + public void setThirdPersonView() { + touchViewHandler.setThirdPersonView(); + } +} \ No newline at end of file diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java index ccbebb7b..4afde5e6 100644 --- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java +++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java @@ -31,7 +31,7 @@ * next activity. */ public class StartActivity extends Activity implements View.OnClickListener { - public static final String KEY_MOTIONTRACKING_AUTORECOVER = + public static final String KEY_MOTIONTRACKING_AUTORECOVER = "com.projecttango.experiments.javamotiontracking.useautorecover"; private ToggleButton mAutoResetButton; private Button mStartButton; diff --git a/MotionTrackingJava/app/src/main/res/layout/activity_motion_tracking.xml b/MotionTrackingJava/app/src/main/res/layout/activity_motion_tracking.xml index 541d1ad0..e255d969 100644 --- a/MotionTrackingJava/app/src/main/res/layout/activity_motion_tracking.xml +++ b/MotionTrackingJava/app/src/main/res/layout/activity_motion_tracking.xml @@ -17,7 +17,7 @@ android:layout_width="wrap_content" android:layout_height="wrap_content" > - + + motion_tracking_java + 0.0.0 + + Java Motion Tracking Sample + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + tango_java_sample_utils + + + catkin + redwood_catkin + diff --git a/MotionTrackingJava/settings.gradle b/MotionTrackingJava/settings.gradle index e989940b..9d495b34 100644 --- a/MotionTrackingJava/settings.gradle +++ b/MotionTrackingJava/settings.gradle @@ -1,3 +1 @@ -include ':app' -include ':TangoUtils' -project(':TangoUtils').projectDir = new File('../TangoUtils/TangoUtils') \ No newline at end of file +include ':app' \ No newline at end of file diff --git a/PointCloudJava/CMakeLists.txt b/PointCloudJava/CMakeLists.txt new file mode 100644 index 00000000..af1ce0f5 --- /dev/null +++ b/PointCloudJava/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8) +project(point_cloud_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +# This macro will also generate a depends.inc file with useful source and +# dependency information to pass on to ndk-build. +build_gradle_apk(JavaPointCloud + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + app/src/main/AndroidManifest.xml + JNI_DIRECTORY app/src/main/jni +) diff --git a/PointCloudJava/app/build.gradle b/PointCloudJava/app/build.gradle index 62b05b4c..86c8a44c 100644 --- a/PointCloudJava/app/build.gradle +++ b/PointCloudJava/app/build.gradle @@ -40,6 +40,7 @@ dependencies { compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) compile(name: 'TangoUtils', ext: 'aar') compile (name: 'tango-ux-support-library', ext: 'aar') + compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } repositories{ diff --git a/PointCloudJava/app/src/main/AndroidManifest.xml b/PointCloudJava/app/src/main/AndroidManifest.xml index b82812fc..05de9801 100644 --- a/PointCloudJava/app/src/main/AndroidManifest.xml +++ b/PointCloudJava/app/src/main/AndroidManifest.xml @@ -37,7 +37,7 @@ + android:screenOrientation="nosensor" > diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java index cffe8f21..b586934c 100644 --- a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java +++ b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java @@ -15,7 +15,6 @@ */ package com.projecttango.experiments.javapointcloud; - import com.google.atap.tango.ux.UxExceptionEvent; import com.google.atap.tango.ux.UxExceptionEventListener; import com.google.atap.tangoservice.Tango; @@ -32,13 +31,13 @@ import com.google.atap.tango.ux.TangoUx; import com.google.atap.tango.ux.TangoUx.StartParams; import com.google.atap.tango.ux.TangoUxLayout; +import com.projecttango.tangoutils.TangoPoseUtilities; import android.app.Activity; import android.content.Intent; import android.content.pm.PackageInfo; import android.content.pm.PackageManager.NameNotFoundException; -import android.opengl.GLSurfaceView; import android.os.Bundle; import android.util.Log; import android.view.MotionEvent; @@ -48,15 +47,16 @@ import android.widget.TextView; import android.widget.Toast; -import java.io.FileInputStream; -import java.io.IOException; +import org.rajawali3d.surface.RajawaliSurfaceView; + +import java.nio.FloatBuffer; import java.text.DecimalFormat; import java.util.ArrayList; /** * Main Activity class for the Point Cloud Sample. Handles the connection to the {@link Tango} * service and propagation of Tango XyzIj data to OpenGL and Layout views. OpenGL rendering logic is - * delegated to the {@link PCrenderer} class. + * delegated to the {@link PointCloudRajawaliRenderer} class. */ public class PointCloudActivity extends Activity implements OnClickListener { @@ -65,8 +65,7 @@ public class PointCloudActivity extends Activity implements OnClickListener { private Tango mTango; private TangoConfig mConfig; - private PCRenderer mRenderer; - private GLSurfaceView mGLView; + private PointCloudRajawaliRenderer mRenderer; private TextView mDeltaTextView; private TextView mPoseCountTextView; @@ -84,7 +83,7 @@ public class PointCloudActivity extends Activity implements OnClickListener { private Button mThirdPersonButton; private Button mTopDownButton; - private int count; + private int mCount; private int mPreviousPoseStatus; private int mPointCount; private float mDeltaTime; @@ -92,61 +91,15 @@ public class PointCloudActivity extends Activity implements OnClickListener { private float mXyIjPreviousTimeStamp; private float mCurrentTimeStamp; private float mPointCloudFrameDelta; - private String mServiceVersion; + private float mAverageDepth; private boolean mIsTangoServiceConnected; private TangoPoseData mPose; - + private PointCloudManager mPointCloudManager; private TangoUx mTangoUx; - private TangoUxLayout mTangoUxLayout; private static final int UPDATE_INTERVAL_MS = 100; - public static Object poseLock = new Object(); - public static Object depthLock = new Object(); - - - /* - * This is an advanced way of using UX exceptions. In most cases developers can just use the in - * built exception notifications using the Ux Exception layout. In case a developer doesn't want - * to use the default Ux Exception notifications, he can set the UxException listener as shown - * below. - * In this example we are just logging all the ux exceptions to logcat, but in a real app, - * developers should use these exceptions to contextually notify the user and help direct the - * user in using the device in a way Tango service expects it. - */ - private UxExceptionEventListener mUxExceptionListener = new UxExceptionEventListener() { - - @Override - public void onUxExceptionEvent(UxExceptionEvent uxExceptionEvent) { - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_LYING_ON_SURFACE){ - Log.i(TAG, "Device lying on surface "); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_FEW_DEPTH_POINTS){ - Log.i(TAG, "Very few depth points in point cloud " ); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_FEW_FEATURES){ - Log.i(TAG, "Invalid poses in MotionTracking "); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_INCOMPATIBLE_VM){ - Log.i(TAG, "Device not running on ART"); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_MOTION_TRACK_INVALID){ - Log.i(TAG, "Invalid poses in MotionTracking "); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_MOVING_TOO_FAST){ - Log.i(TAG, "Invalid poses in MotionTracking "); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_OVER_EXPOSED){ - Log.i(TAG, "Camera Over Exposed"); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_TANGO_SERVICE_NOT_RESPONDING){ - Log.i(TAG, "TangoService is not responding "); - } - if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_UNDER_EXPOSED){ - Log.i(TAG, "Camera Under Exposed " ); - } - - } - }; + private Object mUiPoseLock = new Object(); + private Object mUiDepthLock = new Object(); @Override protected void onCreate(Bundle savedInstanceState) { @@ -154,52 +107,14 @@ protected void onCreate(Bundle savedInstanceState) { setContentView(R.layout.activity_jpoint_cloud); setTitle(R.string.app_name); - mPoseTextView = (TextView) findViewById(R.id.pose); - mQuatTextView = (TextView) findViewById(R.id.quat); - mPoseCountTextView = (TextView) findViewById(R.id.posecount); - mDeltaTextView = (TextView) findViewById(R.id.deltatime); - mTangoEventTextView = (TextView) findViewById(R.id.tangoevent); - mPoseStatusTextView = (TextView) findViewById(R.id.status); - mPointCountTextView = (TextView) findViewById(R.id.pointCount); - mTangoServiceVersionTextView = (TextView) findViewById(R.id.version); - mApplicationVersionTextView = (TextView) findViewById(R.id.appversion); - mAverageZTextView = (TextView) findViewById(R.id.averageZ); - mFrequencyTextView = (TextView) findViewById(R.id.frameDelta); - - mFirstPersonButton = (Button) findViewById(R.id.first_person_button); - mFirstPersonButton.setOnClickListener(this); - mThirdPersonButton = (Button) findViewById(R.id.third_person_button); - mThirdPersonButton.setOnClickListener(this); - mTopDownButton = (Button) findViewById(R.id.top_down_button); - mTopDownButton.setOnClickListener(this); mTango = new Tango(this); - mConfig = new TangoConfig(); - mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT); - mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true); - - mTangoUx = new TangoUx(this); - mTangoUxLayout = (TangoUxLayout) findViewById(R.id.layout_tango); - mTangoUx.setLayout(mTangoUxLayout); - mTangoUx.setUxExceptionEventListener(mUxExceptionListener); - + mConfig = setupTangoConfig(mTango); + setupTextViewsAndButtons(mConfig); int maxDepthPoints = mConfig.getInt("max_point_cloud_elements"); - mRenderer = new PCRenderer(maxDepthPoints); - mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view); - mGLView.setEGLContextClientVersion(2); - mGLView.setRenderer(mRenderer); - - PackageInfo packageInfo; - try { - packageInfo = this.getPackageManager().getPackageInfo(this.getPackageName(), 0); - mApplicationVersionTextView.setText(packageInfo.versionName); - } catch (NameNotFoundException e) { - e.printStackTrace(); - } - - // Display the version of Tango Service - mServiceVersion = mConfig.getString("tango_service_library_version"); - mTangoServiceVersionTextView.setText(mServiceVersion); + mPointCloudManager = new PointCloudManager(maxDepthPoints); + mRenderer = setupGLViewAndRenderer(mPointCloudManager); + mTangoUx = setupTangoUxAndLayout(); mIsTangoServiceConnected = false; startUIThread(); } @@ -259,7 +174,7 @@ protected void onActivityResult(int requestCode, int resultCode, Intent data) { Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT) .show(); } - setUpExtrinsics(); + setupExtrinsics(); } } @@ -282,41 +197,13 @@ public void onClick(View v) { break; default: Log.w(TAG, "Unrecognized button click."); - return; } } @Override public boolean onTouchEvent(MotionEvent event) { - return mRenderer.onTouchEvent(event); - } - - private void setUpExtrinsics() { - // Set device to imu matrix in Model Matrix Calculator. - TangoPoseData device2IMUPose = new TangoPoseData(); - TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(); - framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; - framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE; - try { - device2IMUPose = mTango.getPoseAtTime(0.0, framePair); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show(); - } - mRenderer.getModelMatCalculator().SetDevice2IMUMatrix( - device2IMUPose.getTranslationAsFloats(), device2IMUPose.getRotationAsFloats()); - - // Set color camera to imu matrix in Model Matrix Calculator. - TangoPoseData color2IMUPose = new TangoPoseData(); - - framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; - framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR; - try { - color2IMUPose = mTango.getPoseAtTime(0.0, framePair); - } catch (TangoErrorException e) { - Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show(); - } - mRenderer.getModelMatCalculator().SetColorCamera2IMUMatrix( - color2IMUPose.getTranslationAsFloats(), color2IMUPose.getRotationAsFloats()); + mRenderer.onTouchEvent(event); + return true; } private void setTangoListeners() { @@ -337,52 +224,43 @@ public void onPoseAvailable(final TangoPoseData pose) { // Make sure to have atomic access to Tango Pose Data so that // render loop doesn't interfere while Pose call back is updating // the data. - synchronized (poseLock) { + synchronized (mUiPoseLock) { mPose = pose; // Calculate the delta time from previous pose. mDeltaTime = (float) (pose.timestamp - mPosePreviousTimeStamp) * SECS_TO_MILLISECS; mPosePreviousTimeStamp = (float) pose.timestamp; if (mPreviousPoseStatus != pose.statusCode) { - count = 0; + mCount = 0; } - count++; + mCount++; mPreviousPoseStatus = pose.statusCode; - if(!mRenderer.isValid()){ - return; - } - mRenderer.getModelMatCalculator().updateModelMatrix( - pose.getTranslationAsFloats(), pose.getRotationAsFloats()); } + mRenderer.updateDevicePose(pose); } @Override public void onXyzIjAvailable(final TangoXyzIjData xyzIj) { - if(mTangoUx!=null){ + if (mTangoUx != null) { mTangoUx.updateXyzCount(xyzIj.xyzCount); } + mPointCloudManager.updateCallbackBufferAndSwap(xyzIj.xyz, xyzIj.xyzCount); + TangoPoseData pointCloudPose = mTango.getPoseAtTime(mCurrentTimeStamp, + framePairs.get(0)); + mRenderer.updatePointCloudPose(pointCloudPose); + // Make sure to have atomic access to TangoXyzIjData so that - // render loop doesn't interfere while onXYZijAvailable callback is updating - // the point cloud data. - synchronized (depthLock) { + // UI loop doesn't interfere while onXYZijAvailable callback is updating + // the mPoint cloud data. + synchronized (mUiDepthLock) { mCurrentTimeStamp = (float) xyzIj.timestamp; mPointCloudFrameDelta = (mCurrentTimeStamp - mXyIjPreviousTimeStamp) * SECS_TO_MILLISECS; mXyIjPreviousTimeStamp = mCurrentTimeStamp; + mAverageDepth = getAveragedDepth(xyzIj.xyz); try { - TangoPoseData pointCloudPose = mTango.getPoseAtTime(mCurrentTimeStamp, - framePairs.get(0)); mPointCount = xyzIj.xyzCount; - if(!mRenderer.isValid()){ - return; - } - mRenderer.getPointCloud().UpdatePoints(xyzIj.xyz); - mRenderer.getModelMatCalculator().updatePointCloudModelMatrix( - pointCloudPose.getTranslationAsFloats(), - pointCloudPose.getRotationAsFloats()); - mRenderer.getPointCloud().setModelMatrix( - mRenderer.getModelMatCalculator().getPointCloudModelMatrixCopy()); - } catch (TangoErrorException e) { + } catch (TangoErrorException e) { Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show(); } catch (TangoInvalidException e) { @@ -394,7 +272,7 @@ public void onXyzIjAvailable(final TangoXyzIjData xyzIj) { @Override public void onTangoEvent(final TangoEvent event) { - if(mTangoUx!=null){ + if (mTangoUx != null) { mTangoUx.updateTangoEvent(event); } runOnUiThread(new Runnable() { @@ -429,43 +307,25 @@ public void run() { runOnUiThread(new Runnable() { @Override public void run() { - synchronized (poseLock) { + synchronized (mUiPoseLock) { if (mPose == null) { return; } - String translationString = "[" - + threeDec.format(mPose.translation[0]) + ", " - + threeDec.format(mPose.translation[1]) + ", " - + threeDec.format(mPose.translation[2]) + "] "; - String quaternionString = "[" - + threeDec.format(mPose.rotation[0]) + ", " - + threeDec.format(mPose.rotation[1]) + ", " - + threeDec.format(mPose.rotation[2]) + ", " - + threeDec.format(mPose.rotation[3]) + "] "; - - // Display pose data on screen in TextViews + String translationString = TangoPoseUtilities.getTranslationString(mPose, threeDec); + String quaternionString = TangoPoseUtilities.getQuaternionString(mPose, threeDec); + String status = TangoPoseUtilities.getStatusString(mPose); mPoseTextView.setText(translationString); mQuatTextView.setText(quaternionString); - mPoseCountTextView.setText(Integer.toString(count)); + mPoseCountTextView.setText(Integer.toString(mCount)); mDeltaTextView.setText(threeDec.format(mDeltaTime)); - if (mPose.statusCode == TangoPoseData.POSE_VALID) { - mPoseStatusTextView.setText(R.string.pose_valid); - } else if (mPose.statusCode == TangoPoseData.POSE_INVALID) { - mPoseStatusTextView.setText(R.string.pose_invalid); - } else if (mPose.statusCode == TangoPoseData.POSE_INITIALIZING) { - mPoseStatusTextView.setText(R.string.pose_initializing); - } else if (mPose.statusCode == TangoPoseData.POSE_UNKNOWN) { - mPoseStatusTextView.setText(R.string.pose_unknown); - } + mPoseStatusTextView.setText(status); } - synchronized (depthLock) { - // Display number of points in the point cloud + synchronized (mUiDepthLock) { + // Display number of points in the mPoint cloud mPointCountTextView.setText(Integer.toString(mPointCount)); mFrequencyTextView.setText("" + threeDec.format(mPointCloudFrameDelta)); - mAverageZTextView.setText("" - + threeDec.format(mRenderer.getPointCloud() - .getAverageZ())); + mAverageZTextView.setText("" + threeDec.format(mAverageDepth)); } } }); @@ -476,4 +336,152 @@ public void run() { } }).start(); } + + private void setupExtrinsics(){ + TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(); + framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR; + TangoPoseData imuTColorCameraPose = mTango.getPoseAtTime(0.0,framePair); + + framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH; + TangoPoseData imuTDepthCameraPose = mTango.getPoseAtTime(0.0,framePair); + + framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE; + TangoPoseData imuTDevicePose = mTango.getPoseAtTime(0.0,framePair); + + mRenderer.setupExtrinsics(imuTColorCameraPose, imuTDepthCameraPose, imuTDevicePose); + } + + /* + * This is an advanced way of using UX exceptions. In most cases developers can just use the in + * built exception notifications using the Ux Exception layout. In case a developer doesn't want + * to use the default Ux Exception notifications, he can set the UxException listener as shown + * below. + * In this example we are just logging all the ux exceptions to logcat, but in a real app, + * developers should use these exceptions to contextually notify the user and help direct the + * user in using the device in a way Tango service expects it. + */ + private UxExceptionEventListener mUxExceptionListener = new UxExceptionEventListener() { + + @Override + public void onUxExceptionEvent(UxExceptionEvent uxExceptionEvent) { + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_LYING_ON_SURFACE){ + Log.i(TAG, "Device lying on surface "); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_FEW_DEPTH_POINTS){ + Log.i(TAG, "Very few depth points in mPoint cloud " ); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_FEW_FEATURES){ + Log.i(TAG, "Invalid poses in MotionTracking "); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_INCOMPATIBLE_VM){ + Log.i(TAG, "Device not running on ART"); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_MOTION_TRACK_INVALID){ + Log.i(TAG, "Invalid poses in MotionTracking "); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_MOVING_TOO_FAST){ + Log.i(TAG, "Invalid poses in MotionTracking "); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_OVER_EXPOSED){ + Log.i(TAG, "Camera Over Exposed"); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_TANGO_SERVICE_NOT_RESPONDING){ + Log.i(TAG, "TangoService is not responding "); + } + if(uxExceptionEvent.getType() == UxExceptionEvent.TYPE_UNDER_EXPOSED){ + Log.i(TAG, "Camera Under Exposed " ); + } + + } + }; + + /** + * Sets up the tango configuration object. Make sure mTango object is initialized before + * making this call. + */ + private TangoConfig setupTangoConfig(Tango tango) { + TangoConfig config = tango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT); + config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true); + return config; + } + + /** + * Sets Text views to display statistics of Poses being received. This also sets the buttons + * used in the UI. + */ + private void setupTextViewsAndButtons(TangoConfig config){ + mPoseTextView = (TextView) findViewById(R.id.pose); + mQuatTextView = (TextView) findViewById(R.id.quat); + mPoseCountTextView = (TextView) findViewById(R.id.posecount); + mDeltaTextView = (TextView) findViewById(R.id.deltatime); + mTangoEventTextView = (TextView) findViewById(R.id.tangoevent); + mPoseStatusTextView = (TextView) findViewById(R.id.status); + mPointCountTextView = (TextView) findViewById(R.id.pointCount); + mTangoServiceVersionTextView = (TextView) findViewById(R.id.version); + mApplicationVersionTextView = (TextView) findViewById(R.id.appversion); + mAverageZTextView = (TextView) findViewById(R.id.averageZ); + mFrequencyTextView = (TextView) findViewById(R.id.frameDelta); + + mFirstPersonButton = (Button) findViewById(R.id.first_person_button); + mFirstPersonButton.setOnClickListener(this); + mThirdPersonButton = (Button) findViewById(R.id.third_person_button); + mThirdPersonButton.setOnClickListener(this); + mTopDownButton = (Button) findViewById(R.id.top_down_button); + mTopDownButton.setOnClickListener(this); + + PackageInfo packageInfo; + try { + packageInfo = this.getPackageManager().getPackageInfo(this.getPackageName(), 0); + mApplicationVersionTextView.setText(packageInfo.versionName); + } catch (NameNotFoundException e) { + e.printStackTrace(); + } + + // Display the version of Tango Service + String serviceVersion = config.getString("tango_service_library_version"); + mTangoServiceVersionTextView.setText(serviceVersion); + } + + /** + * Sets Rajawalisurface view and its renderer. This is ideally called only once in onCreate. + */ + private PointCloudRajawaliRenderer setupGLViewAndRenderer(PointCloudManager pointCloudManager){ + PointCloudRajawaliRenderer renderer = new PointCloudRajawaliRenderer(this, pointCloudManager); + RajawaliSurfaceView glView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); + glView.setEGLContextClientVersion(2); + glView.setSurfaceRenderer(renderer); + return renderer; + } + + /** + * Sets up TangoUX layout and sets its listener. + */ + private TangoUx setupTangoUxAndLayout(){ + TangoUxLayout uxLayout = (TangoUxLayout) findViewById(R.id.layout_tango); + TangoUx tangoUx = new TangoUx(this); + tangoUx.setLayout(uxLayout); + tangoUx.setUxExceptionEventListener(mUxExceptionListener); + return tangoUx; + } + + /** + * Calculates the average depth from a point cloud buffer + * @param pointCloudBuffer + * @return Average depth. + */ + private float getAveragedDepth(FloatBuffer pointCloudBuffer){ + mPointCount = pointCloudBuffer.capacity() / 3; + float totalZ = 0; + float averageZ = 0; + for (int i = 0; i < pointCloudBuffer.capacity() - 3; i = i + 3) { + totalZ = totalZ + pointCloudBuffer.get(i + 2); + } + if (mPointCount != 0) + averageZ = totalZ / mPointCount; + return averageZ; + } + } diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudManager.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudManager.java new file mode 100644 index 00000000..aad091ff --- /dev/null +++ b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudManager.java @@ -0,0 +1,123 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.experiments.javapointcloud; + +import java.nio.ByteBuffer; +import java.nio.ByteOrder; +import java.nio.FloatBuffer; + +/** + * This is a thread safe class that synchronizes the data copy between onXyzAvailable callbacks + * and render loop. + * Synchronization of point cloud data primarily involves registering for + * callbacks in {@link PointCloudActivity} and passing on the necessary information to stored objects. + * It also takes care of passing a floatbuffer which is a reference to + * latest point cloud buffer that is to used for rendering. + * To reduce the number of point cloud data copies between callback and render + * threads we use three buffers which are synchronously exchanged between renderloop and callbacks + * so that the render loop always contains the latest point cloud data. + * 1. Callback buffer : The buffer to which pointcloud data received from Tango + * Service callback is copied out. + * 2. Shared buffer: This buffer is used to share the data between Service + * callback and Render loop + * 3. Render Buffer: This buffer is used in the renderloop to project point + * cloud data to a 2D image plane which is of the same size as RGB image. We + * also make sure that this buffer contains the latest point cloud data that is + * received from the call back. + */ +public class PointCloudManager { + private static final int BYTES_PER_FLOAT = 4; + private static final int POINT_TO_XYZ = 3; + private PointCloudData mCallbackPointCloudData; + private PointCloudData mSharedPointCloudData; + private PointCloudData mRenderPointCloudData; + private boolean mSwapSignal; + private Object mPointCloudLock; + + + PointCloudManager(int maxDepthPoints){ + mSwapSignal = false; + setupBuffers(maxDepthPoints); + mPointCloudLock = new Object(); + } + + /** + * Sets up three buffers namely, Callback, Shared and Render buffers allocated with maximum + * number of points a point cloud can have. + * @param maxDepthPoints + */ + private void setupBuffers(int maxDepthPoints){ + mCallbackPointCloudData = new PointCloudData(); + mSharedPointCloudData = new PointCloudData(); + mRenderPointCloudData = new PointCloudData(); + mCallbackPointCloudData.floatBuffer = ByteBuffer + .allocateDirect(maxDepthPoints * BYTES_PER_FLOAT * POINT_TO_XYZ) + .order(ByteOrder.nativeOrder()).asFloatBuffer(); + mSharedPointCloudData.floatBuffer = ByteBuffer + .allocateDirect(maxDepthPoints * BYTES_PER_FLOAT * POINT_TO_XYZ) + .order(ByteOrder.nativeOrder()).asFloatBuffer(); + mRenderPointCloudData.floatBuffer = ByteBuffer + .allocateDirect(maxDepthPoints * BYTES_PER_FLOAT * POINT_TO_XYZ) + .order(ByteOrder.nativeOrder()).asFloatBuffer(); + } + + /** + * Updates the callbackbuffer with latest pointcloud and swaps the + * @param callbackBuffer + * @param pointCount + */ + public void updateCallbackBufferAndSwap(FloatBuffer callbackBuffer, int pointCount){ + mSharedPointCloudData.floatBuffer.position(0); + mCallbackPointCloudData.floatBuffer.put(callbackBuffer); + synchronized (mPointCloudLock){ + FloatBuffer temp = mSharedPointCloudData.floatBuffer; + int tempCount = pointCount; + mSharedPointCloudData.floatBuffer = mCallbackPointCloudData .floatBuffer; + mSharedPointCloudData.pointCount = mCallbackPointCloudData.pointCount; + mCallbackPointCloudData.floatBuffer = temp; + mCallbackPointCloudData.pointCount = tempCount; + mSwapSignal = true; + } + } + + /** + * Returns a shallow copy of latest Point Cloud Render buffer.If there is a swap signal available + * SharedPointCloud buffer is swapped with Render buffer and it is returned. + * @return PointClouData which contains a reference to latest PointCloud Floatbuffer and count. + */ + public PointCloudData updateAndGetLatestPointCloudRenderBuffer(){ + synchronized (mPointCloudLock){ + if(mSwapSignal) { + FloatBuffer temp = mRenderPointCloudData.floatBuffer; + int tempCount = mRenderPointCloudData.pointCount; + mRenderPointCloudData.floatBuffer = mSharedPointCloudData.floatBuffer; + mRenderPointCloudData.pointCount = mSharedPointCloudData.pointCount; + mSharedPointCloudData.floatBuffer = temp; + mSharedPointCloudData.pointCount = tempCount; + mSwapSignal = false; + } + } + return mRenderPointCloudData; + } + + /** + * A class to hold Depth data in a {@link FloatBuffer} and number of points associated with it. + */ + public class PointCloudData{ + public FloatBuffer floatBuffer; + public int pointCount; + } +} diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java new file mode 100644 index 00000000..38f5103a --- /dev/null +++ b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java @@ -0,0 +1,147 @@ +/* + * Copyright 2014 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.experiments.javapointcloud; + +import android.content.Context; +import android.graphics.Color; +import android.view.MotionEvent; + +import com.google.atap.tangoservice.TangoPoseData; +import com.projecttango.rajawali.Pose; +import com.projecttango.rajawali.ScenePoseCalcuator; +import com.projecttango.rajawali.TouchViewHandler; +import com.projecttango.rajawali.renderables.FrustumAxes; +import com.projecttango.rajawali.renderables.Grid; +import com.projecttango.rajawali.renderables.primitives.Points; + +import org.rajawali3d.math.Matrix4; +import org.rajawali3d.renderer.RajawaliRenderer; + +/** + * Renderer for Point Cloud data. This is also a thread safe class as in when Renderloop and + * OnposeAvailable callbacks are synchronized with each other. + */ +public class PointCloudRajawaliRenderer extends RajawaliRenderer { + + private static final float CAMERA_NEAR = 0.01f; + private static final float CAMERA_FAR = 200f; + private static final int MAX_NUMBER_OF_POINTS = 60000; + private FrustumAxes mFrustumAxes; + private Grid mGrid; + + private TouchViewHandler mTouchViewHandler; + private ScenePoseCalcuator mScenePoseCalcuator; + private Pose mCameraPose; + private Pose mPointCloudPose; + + // Latest available device pose + private Points mPoints; + private PointCloudManager mPointCloudManager; + + + public PointCloudRajawaliRenderer(Context context, PointCloudManager pointCloudManager) { + super(context); + mTouchViewHandler = new TouchViewHandler(mContext, getCurrentCamera()); + mScenePoseCalcuator = new ScenePoseCalcuator(); + mPointCloudManager = pointCloudManager; + } + + @Override + protected void initScene() { + mGrid = new Grid(100, 1); + mGrid.setPosition(0, -1.3f, 0); + getCurrentScene().addChild(mGrid); + + mFrustumAxes = new FrustumAxes(); + getCurrentScene().addChild(mFrustumAxes); + + mPoints = new Points(MAX_NUMBER_OF_POINTS); + getCurrentScene().addChild(mPoints); + getCurrentScene().setBackgroundColor(Color.WHITE); + getCurrentCamera().setNearPlane(CAMERA_NEAR); + getCurrentCamera().setFarPlane(CAMERA_FAR); + getCurrentCamera().setFieldOfView(37.5); + } + + @Override + protected void onRender(long ellapsedRealtime, double deltaTime) { + super.onRender(ellapsedRealtime, deltaTime); + PointCloudManager.PointCloudData renderPointCloudData + = mPointCloudManager.updateAndGetLatestPointCloudRenderBuffer(); + mPoints.updatePoints(renderPointCloudData.floatBuffer, renderPointCloudData.pointCount); + if(mCameraPose==null || mPointCloudPose == null){ + return; + } + // Update the scene objects with the latest device position and orientation information. + // Synchronize to avoid concurrent access from the Tango callback thread below. + synchronized (this) { + mFrustumAxes.setPosition(mCameraPose.getPosition()); + mFrustumAxes.setOrientation(mCameraPose.getOrientation()); + + mPoints.setPosition(mPointCloudPose.getPosition()); + mPoints.setOrientation(mPointCloudPose.getOrientation()); + mTouchViewHandler.updateCamera(mCameraPose.getPosition(), mCameraPose.getOrientation()); + } + } + + /** + * Updates our information about the current device pose. + * This is called from the Tango service thread through the callback API. Synchronize to avoid + * concurrent access from the OpenGL thread above. + */ + public synchronized void updateDevicePose(TangoPoseData tangoPoseData) { + mCameraPose = mScenePoseCalcuator.toOpenGLCameraPose(tangoPoseData); + } + + public synchronized void updatePointCloudPose(TangoPoseData pointCloudPose) { + mPointCloudPose = mScenePoseCalcuator.toOpenGLPointCloudPose(pointCloudPose); + } + + @Override + public void onOffsetsChanged(float v, float v1, float v2, float v3, int i, int i1) { + } + + @Override + public void onTouchEvent(MotionEvent motionEvent) { + mTouchViewHandler.onTouchEvent(motionEvent); + } + + public void setFirstPersonView() { + mTouchViewHandler.setFirstPersonView(); + } + + public void setTopDownView() { + mTouchViewHandler.setTopDownView(); + } + + public void setThirdPersonView() { + mTouchViewHandler.setThirdPersonView(); + } + + /** + * Sets the extrinsics between different sensors of a Tango Device + * @param imuTColorCameraPose : Pose transformation between Color camera and IMU sensor. + * @param imuTDepthCameraPose : Pose transformation between Depth camera and IMU sensor. + * @param imuTDevicePose : Pose transformation between Device and IMU sensor. + */ + public void setupExtrinsics(TangoPoseData imuTColorCameraPose, TangoPoseData imuTDepthCameraPose, TangoPoseData imuTDevicePose) { + Matrix4 imuTColorCamera = ScenePoseCalcuator.tangoPoseToMatrix(imuTColorCameraPose); + Matrix4 imuTDevice = ScenePoseCalcuator.tangoPoseToMatrix(imuTDevicePose); + Matrix4 imuTDepthCamera = ScenePoseCalcuator.tangoPoseToMatrix(imuTDepthCameraPose); + mScenePoseCalcuator.setupExtrinsics(imuTColorCamera, imuTDepthCamera, imuTDevice); + } + +} diff --git a/PointCloudJava/app/src/main/res/layout/activity_jpoint_cloud.xml b/PointCloudJava/app/src/main/res/layout/activity_jpoint_cloud.xml index c62d15b0..6a032955 100644 --- a/PointCloudJava/app/src/main/res/layout/activity_jpoint_cloud.xml +++ b/PointCloudJava/app/src/main/res/layout/activity_jpoint_cloud.xml @@ -17,7 +17,7 @@ android:layout_width="wrap_content" android:layout_height="wrap_content" > - + + point_cloud_java + 0.0.0 + + Point Cloud Java Sample + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + tango_java_sample_utils + tango_ux_support_library + + + catkin + redwood_catkin + Experimental + diff --git a/PointCloudJava/settings.gradle b/PointCloudJava/settings.gradle index 9d495b34..e7b4def4 100644 --- a/PointCloudJava/settings.gradle +++ b/PointCloudJava/settings.gradle @@ -1 +1 @@ -include ':app' \ No newline at end of file +include ':app' diff --git a/QuickstartJava/CMakeLists.txt b/QuickstartJava/CMakeLists.txt new file mode 100644 index 00000000..54a78ae4 --- /dev/null +++ b/QuickstartJava/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8) +project(quick_start_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +# This macro will also generate a depends.inc file with useful source and +# dependency information to pass on to ndk-build. +build_gradle_apk(JavaQuickStart + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + app/src/main/AndroidManifest.xml + JNI_DIRECTORY app/src/main/jni +) diff --git a/QuickstartJava/package.xml b/QuickstartJava/package.xml new file mode 100644 index 00000000..3c8efb97 --- /dev/null +++ b/QuickstartJava/package.xml @@ -0,0 +1,20 @@ + + + quick_start_java + 0.0.0 + + Java sample for showing the minimum usage of Project Tango Java API + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + + + catkin + redwood_catkin + Experimental + \ No newline at end of file diff --git a/TangoReleaseLibs/aar/TangoUtils.aar b/TangoReleaseLibs/aar/TangoUtils.aar index c30a31e99fa0f6cceb95ac5e800a6c6dcd1cea40..66f0d9de1e806c5ccf2d9de773bd28966e3d3a7e 100644 GIT binary patch literal 385602 zcmV(rK<>X#O9KQ7000OG04J+RM|1(emPkhc08~=|01E&B0Ap-nb8}^LE^1+NlzRh| 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The recommended time to do this is right after + * the Tango service is connected. + */ +public class ScenePoseCalcuator { + private static final String TAG = ScenePoseCalcuator.class.getSimpleName(); + + // Transformation from the Tango Area Description or Start of Service coordinate frames + // to the OpenGL coordinate frame + // NOTE: Rajawali uses column-major for matrices + public static final Matrix4 OPENGL_T_TANGO_WORLD = new Matrix4(new double[]{ + 1, 0, 0, 0, + 0, 0,-1, 0, + 0, 1, 0, 0, + 0, 0, 0, 1 + }); + // Transformation from the Tango RGB camera coordinate frame to the OpenGL camera frame + public static final Matrix4 COLOR_CAMERA_T_OPENGL_CAMERA = new Matrix4(new double[] { + 1, 0, 0, 0, + 0,-1, 0, 0, + 0, 0,-1, 0, + 0, 0, 0, 1 + }); + + public static final Matrix4 DEPTH_CAMERA_T_OPENGL_CAMERA = new Matrix4(new double[]{ + 1, 0, 0, 0, + 0,-1, 0, 0, + 0, 0,-1, 0, + 0, 0, 0, 1 + }); + + // Transformation from the position of the Depth camera to the Device frame + private Matrix4 mDeviceTDepthCamera; + + // Transformation from the position of the Color Camera to the Device frame + private Matrix4 mDeviceTColorCamera; + /** + * Converts from TangoPoseData to a Matrix4 for transformations. + */ + public static Matrix4 tangoPoseToMatrix(TangoPoseData tangoPose) { + Vector3 v = new Vector3(tangoPose.translation[0], + tangoPose.translation[1], tangoPose.translation[2]); + Quaternion q = new Quaternion(tangoPose.rotation[3], tangoPose.rotation[0], + tangoPose.rotation[1], tangoPose.rotation[2]); + // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention + q.inverse(); + Matrix4 m = new Matrix4(); + m.setAll(v, new Vector3(1, 1, 1), q); + return m; + } + + /** + * Given a TangoPoseData object, calculate the corresponding position and orientation for a + * OpenGL Scene Camera in the Rajawali world. + */ + public Pose toOpenGLCameraPose(TangoPoseData tangoPose) { + // We can't do this calculation until Extrinsics are set-up + if (mDeviceTColorCamera == null) { + throw new RuntimeException("You must call setupExtrinsics first."); + } + Matrix4 startServiceTdevice = tangoPoseToMatrix(tangoPose); + + // Get device pose in OpenGL world frame + Matrix4 openglTDevice = OPENGL_T_TANGO_WORLD.clone().multiply(startServiceTdevice); + + // Get OpenGL camera pose in OpenGL world frame + Matrix4 openglWorldTOpenglCamera = openglTDevice.multiply(mDeviceTColorCamera). + multiply(COLOR_CAMERA_T_OPENGL_CAMERA); + + // Get translation and rotation components from the resulting transformation matrix + Vector3 p = openglWorldTOpenglCamera.getTranslation(); + Quaternion q = new Quaternion(); + q.fromMatrix(openglWorldTOpenglCamera); + + // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention + q.inverse(); + + // Notify of the new Camera information + return new Pose(p, q); + } + + /** + * Given a TangoPoseData object, calculate the corresponding position and orientation for a + * PointCloud in Depth camera coordinate system to the Rajawali world. + */ + public Pose toOpenGLPointCloudPose(TangoPoseData tangoPose) { + + //conversion matrix to put point cloud data in Rajwali/Opengl Coordinate system. + Matrix4 invertYandZMatrix = new Matrix4(new double[]{1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, -1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, -1.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f }); + // We can't do this calculation until Extrinsics are set-up + if (mDeviceTDepthCamera == null) { + throw new RuntimeException("You must call setupExtrinsics first."); + } + Matrix4 startServiceTdevice = tangoPoseToMatrix(tangoPose); + + // Get device pose in OpenGL world frame + Matrix4 openglTDevice = OPENGL_T_TANGO_WORLD.clone().multiply(startServiceTdevice); + + // Get OpenGL camera pose in OpenGL world frame + Matrix4 openglWorldTOpenglCamera = openglTDevice.multiply(mDeviceTDepthCamera). + multiply(DEPTH_CAMERA_T_OPENGL_CAMERA).multiply(invertYandZMatrix); + + // Get translation and rotation components from the resulting transformation matrix + Vector3 p = openglWorldTOpenglCamera.getTranslation(); + Quaternion q = new Quaternion(); + q.fromMatrix(openglWorldTOpenglCamera); + + // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention + q.inverse(); + + // Notify of the new Camera information + return new Pose(p, q); + } + + /** + * Given a TangoPoseData object, calculate the corresponding position and orientation for a + * 3D object in the Rajawali world. + */ + static public Pose toOpenGLPose(TangoPoseData tangoPose) { + Matrix4 start_service_T_device = tangoPoseToMatrix(tangoPose); + + // Get device pose in OpenGL world frame + Matrix4 opengl_world_T_device = OPENGL_T_TANGO_WORLD.clone().multiply(start_service_T_device); + + // Get translation and rotation components from the resulting transformation matrix + Vector3 p = opengl_world_T_device.getTranslation(); + Quaternion q = new Quaternion(); + q.fromMatrix(opengl_world_T_device); + + // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention + q.inverse(); + + // Notify of the new Camera information + return new Pose(p, q); + } + + public void setupExtrinsics(Matrix4 imutColorCamera, Matrix4 imuTDepthCamera, Matrix4 imuTDevice){ + mDeviceTDepthCamera = imuTDevice.clone().inverse().clone().multiply(imuTDepthCamera); + setupExtrinsics(imutColorCamera,imuTDevice); + } + + /** + * Calculate and record the transformations between the Tango color camera and the device. + */ + public void setupExtrinsics(Matrix4 imutColorCamera, Matrix4 imuTDevice) { + // Combine both to get the transform from the device pose to the RGB camera pose + mDeviceTColorCamera = imuTDevice.clone().inverse().clone().multiply(imutColorCamera); + } + + /** + * Use Tango camera intrinsics to calculate the projection Matrix for the Rajawali scene. + */ + public static Matrix4 calculateProjectionMatrix(int width, int height, double fx, double fy, + double cx, double cy) { + // Uses frustumM to create a projection matrix taking into account Calibrated camera + // intrinsic parameter. + // Reference: http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/ + double near = 0.1; + double far = 100; + + double xScale = near / fx; + double yScale = near / fy; + double xOffset = (cx - (width / 2.0)) * xScale; + // Color camera's coordinates has y pointing downwards so we negate this term. + double yOffset = -(cy - (height / 2.0)) * yScale; + + double m[] = new double[16]; + Matrix.frustumM(m, 0, + xScale * -width / 2.0 - xOffset, + xScale * width / 2.0 - xOffset, + yScale * -height / 2.0 - yOffset, + yScale * height / 2.0 - yOffset, + near, far); + return new Matrix4(m); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java new file mode 100644 index 00000000..becf3a0e --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java @@ -0,0 +1,148 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali; + +import android.content.Context; +import android.view.GestureDetector; +import android.view.MotionEvent; +import android.view.ScaleGestureDetector; + +import org.rajawali3d.cameras.Camera; +import org.rajawali3d.math.Quaternion; +import org.rajawali3d.math.vector.Vector3; + +/** + * This is a helper class that adds Top-down and Third-person views in a VR setting, including + * handling of standard pan and zoom touch interactions. + */ +public class TouchViewHandler { + + // Touch interaction tuning constants + private static final int TOUCH_THIRD_PITCH_LIMIT = 60; + private static final int TOUCH_THIRD_PITCH_DEFAULT = 45; + private static final int TOUCH_THIRD_YAW_DEFAULT = -45; + private static final int TOUCH_FOV_MAX = 120; + private static final int TOUCH_THIRD_DISTANCE = 10; + private static final int TOUCH_TOP_DISTANCE = 10; + + // Virtual Reality view parameters + private static final float FIRST_PERSON_FOV = 37.8f; + private static final int THIRD_PERSON_FOV = 65; + private static final int TOP_DOWN_FOV = 65; + + private enum ViewMode { + FIRST_PERSON, TOP_DOWN, THIRD_PERSON + }; + private ViewMode viewMode = ViewMode.THIRD_PERSON; + + private GestureDetector gestureDetector; + private ScaleGestureDetector scaleGestureDetector; + + private Vector3 topdownCameraDelta = new Vector3(); + private float thirdPersonPitch = TOUCH_THIRD_PITCH_DEFAULT; + private float thirdPersonYaw = TOUCH_THIRD_YAW_DEFAULT; + + private Camera camera; + + public TouchViewHandler(Context context, Camera camera) { + gestureDetector = new GestureDetector(context, new DragListener()); + scaleGestureDetector = new ScaleGestureDetector(context, new ScaleListener()); + this.camera = camera; + } + + public Camera getCamera() { + return camera; + } + + public void setCamera(Camera camera) { + this.camera = camera; + } + + public void updateCamera(Vector3 position, Quaternion orientation) { + if (viewMode == ViewMode.FIRST_PERSON) { + camera.setPosition(position); + camera.setOrientation(orientation); + } else if (viewMode == ViewMode.TOP_DOWN) { + camera.setPosition(position.x + topdownCameraDelta.x, TOUCH_TOP_DISTANCE, + position.z + topdownCameraDelta.z); + camera.setRotation(Vector3.Axis.X, 90); + } else if (viewMode == ViewMode.THIRD_PERSON) { + camera.setPosition(position.x, position.y, position.z); + camera.setRotZ(thirdPersonPitch); + camera.rotate(Vector3.Axis.Y, thirdPersonYaw); + camera.moveForward(TOUCH_THIRD_DISTANCE); + } + } + + public void onTouchEvent(MotionEvent motionEvent) { + gestureDetector.onTouchEvent(motionEvent); + scaleGestureDetector.onTouchEvent(motionEvent); + } + + public void setFirstPersonView() { + viewMode = ViewMode.FIRST_PERSON; + camera.setFieldOfView(FIRST_PERSON_FOV); + } + + public void setTopDownView() { + viewMode = ViewMode.TOP_DOWN; + topdownCameraDelta = new Vector3(); + camera.setFieldOfView(TOP_DOWN_FOV); + } + + public void setThirdPersonView() { + viewMode = ViewMode.THIRD_PERSON; + thirdPersonYaw = TOUCH_THIRD_YAW_DEFAULT; + thirdPersonPitch = TOUCH_THIRD_PITCH_DEFAULT; + camera.setFieldOfView(THIRD_PERSON_FOV); + } + + private class ScaleListener extends ScaleGestureDetector.SimpleOnScaleGestureListener { + float scale = 1f; + + @Override + public boolean onScale(ScaleGestureDetector detector) { + scale = detector.getScaleFactor(); + scale = Math.max(0.1f, Math.min(scale, 5f)); + + camera.setFieldOfView( + Math.min(camera.getFieldOfView() / scale, TOUCH_FOV_MAX)); + + return true; + } + } + + private class DragListener extends GestureDetector.SimpleOnGestureListener { + @Override + public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY) { + + if (viewMode == ViewMode.TOP_DOWN) { + double factor = camera.getFieldOfView() / 45; + topdownCameraDelta.add(new Vector3(distanceX / 100 * factor, 0, distanceY / 100 * factor)); + } else if (viewMode == ViewMode.THIRD_PERSON) { + thirdPersonPitch -= distanceY / 10; + thirdPersonPitch = + Math.min(thirdPersonPitch, TOUCH_THIRD_PITCH_LIMIT); + thirdPersonPitch = + Math.max(thirdPersonPitch, -TOUCH_THIRD_PITCH_LIMIT); + thirdPersonYaw -= distanceX / 10; + thirdPersonYaw %= 360; + } + + return true; + } + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java new file mode 100644 index 00000000..86a2adc5 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java @@ -0,0 +1,277 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.ar; + +import android.content.Context; + +import com.google.atap.tangoservice.Tango; +import com.google.atap.tangoservice.TangoCameraIntrinsics; +import com.google.atap.tangoservice.TangoCoordinateFramePair; +import com.google.atap.tangoservice.TangoPoseData; +import com.projecttango.rajawali.Pose; +import com.projecttango.rajawali.ScenePoseCalcuator; + +import org.rajawali3d.materials.Material; +import org.rajawali3d.materials.textures.ATexture; +import org.rajawali3d.materials.textures.StreamingTexture; +import org.rajawali3d.math.Matrix4; +import org.rajawali3d.primitives.ScreenQuad; +import org.rajawali3d.renderer.RajawaliRenderer; + +/** + * This is a specialization of RajawaliRenderer that makes it easy to build + * augmented reality applications. + * It sets up a simple scene with the camera contents rendered in full screen in the background and + * a default Rajawali Camera automatically adjusted to replicate the real world + * movement of the Tango device in the virtual world. + * + * It is used the same as any RajawaliRenderer with the following additional + * considerations: + * + * - It is optional (although recommended) to overwrite the initScene method. If this + * method is overwritten, it is important to call super.initScene() at the beginning + * of the overwriting method. + * - It is important to be careful to not clear the scene since this will remove the Tango camera + * from the background. + * - In most cases the Rajawali camera will not be handled by the user since it is automatically + * handled by this mRenderer. + */ +public abstract class TangoRajawaliRenderer extends RajawaliRenderer { + + private static final String TAG = "TangoRajawaliRenderer"; + + private static TangoCoordinateFramePair TANGO_WORLD_T_DEVICE = new TangoCoordinateFramePair( + TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE, + TangoPoseData.COORDINATE_FRAME_DEVICE + ); + + // Tango support objects + private StreamingTexture mTangoCameraTexture; + private Tango mTango; + private int mCameraId; + private boolean mUpdatePending = false; + private int mConnectedTextureId = -1; + private double mLastRGBFrameTimestamp = -1; + private double mLastSceneCameraFrameTimestamp = -1; + // The ScreenQuad used to render the Tango camera in the background of the scene + private ScreenQuad mBackgroundQuad; + private boolean mIsCameraConfigured = false; + + protected ScenePoseCalcuator scenePoseCalcuator; + + public TangoRajawaliRenderer(Context context) { + super(context); + scenePoseCalcuator = new ScenePoseCalcuator(); + } + + /** + * Sets up the initial scene with a default Rajawali camera and a background quad rendering + * the Tango camera contents. + */ + @Override + protected void initScene() { + mBackgroundQuad = new ScreenQuad(); + + mTangoCameraTexture = + new StreamingTexture("camera", (StreamingTexture.ISurfaceListener) null); + + Material tangoCameraMaterial = new Material(); + tangoCameraMaterial.setColorInfluence(0); + try { + tangoCameraMaterial.addTexture(mTangoCameraTexture); + mBackgroundQuad.setMaterial(tangoCameraMaterial); + } catch (ATexture.TextureException e) { + e.printStackTrace(); + } + getCurrentScene().addChildAt(mBackgroundQuad, 0); + } + + @Override + protected void onRender(long ellapsedRealtime, double deltaTime) { + super.onRender(ellapsedRealtime, deltaTime); + + synchronized (this) { + if (mTango != null) { + if (mUpdatePending) { + mLastRGBFrameTimestamp = updateTexture(); + mUpdatePending = false; + } + if (mLastRGBFrameTimestamp != mLastSceneCameraFrameTimestamp) { + // We delay the camera set-up until now because if we do it earlier (i.e.: when the + // camera is connected to the renderer) the Tango service may still not have the + // necessary intrinsic and extrinsic transformation information available + if (!mIsCameraConfigured) { + configureCamera(); + mIsCameraConfigured = true; + } + + // Calculate the device pose at the camera frame update time + TangoPoseData lastFramePose = + mTango.getPoseAtTime(mLastRGBFrameTimestamp, TANGO_WORLD_T_DEVICE); + // Fall back to latest available time if for some reason that fails + if (lastFramePose.statusCode != TangoPoseData.POSE_VALID) { + lastFramePose = mTango.getPoseAtTime(0, TANGO_WORLD_T_DEVICE); + } + if (lastFramePose.statusCode == TangoPoseData.POSE_VALID) { + Pose sceneCameraPose = scenePoseCalcuator.toOpenGLCameraPose(lastFramePose); + updateCameraPose(sceneCameraPose); + mLastSceneCameraFrameTimestamp = mLastRGBFrameTimestamp; + } + } + } + } + } + + /** + * Triggered whenever there is new information of the Tango position, with the provided + * data to update the Rajawali camera to match. + * It doesn't need to be overwritten. By default it will automatically update the Rajawali + * Camera to match. + */ + protected void updateCameraPose(Pose sceneCameraPose) { + getCurrentCamera().setPosition(sceneCameraPose.getPosition()); + getCurrentCamera().setOrientation(sceneCameraPose.getOrientation()); + } + + /** + * Sets up the coordinate frame to use as a device reference. It should be one of + * TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE or + * TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION. + * + * COORDINATE_FRAME_START_OF_SERVICE will be used by default. + */ + public void setWorldFrameReference(int worldFrameReference) { + TANGO_WORLD_T_DEVICE = new TangoCoordinateFramePair( worldFrameReference, + TangoPoseData.COORDINATE_FRAME_DEVICE); + } + + /** + * Updates the TangoCameraMaterial with the latest camera data. + * + * @return the timestamp of the RGB image rendered into the texture. + */ + public double updateTexture() { + // Try this again here because it is possible that when the user called + // connectToTangoCamera the texture wasn't assigned yet and the connection couldn't + // be done + if (mConnectedTextureId != getTextureId()) { + mConnectedTextureId = connectTangoTexture(); + } + if (mConnectedTextureId != -1) { + // Copy the camera frame from the camera to the OpenGL texture + return mTango.updateTexture(this.mCameraId); + } + return -1.0; + } + + private int getTextureId() { + return mTangoCameraTexture == null ? -1 : mTangoCameraTexture.getTextureId(); + } + + private int connectTangoTexture() { + int textureId = -1; + if (mTangoCameraTexture != null) { + textureId = mTangoCameraTexture.getTextureId(); + } + mTango.connectTextureId(mCameraId, textureId); + return textureId; + } + + private void configureCamera() { + // This should never happen, but it never hurts to double-check + if (mTango == null) { + return; + } + + // Configure the Rajawali Scene camera projection to match the Tango camera intrinsic + TangoCameraIntrinsics intrinsics = mTango.getCameraIntrinsics(mCameraId); + Matrix4 projectionMatrix = scenePoseCalcuator.calculateProjectionMatrix( + intrinsics.width, intrinsics.height, intrinsics.fx, intrinsics.fy, intrinsics.cx, + intrinsics.cy); + getCurrentCamera().setProjectionMatrix(projectionMatrix); + + // Configure the scene pose calculator with the transformation between the selected + // camera and the device. + // Note that this requires going through the IMU since the Tango service can't calculate + // the transform between the camera and the device directly + + // 1- Create Camera to IMU Transform + TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(); + switch (mCameraId) { + case TangoCameraIntrinsics.TANGO_CAMERA_COLOR: + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR; + break; + case TangoCameraIntrinsics.TANGO_CAMERA_FISHEYE: + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_FISHEYE; + break; + default: + throw new RuntimeException("Unsupported camera ID: " + mCameraId); + } + framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; + final TangoPoseData imuTrgbPose = mTango.getPoseAtTime(0.0, framePair); + Matrix4 imuTrgb = ScenePoseCalcuator.tangoPoseToMatrix(imuTrgbPose); + + // 2- Create Device to IMU Transform and invert + framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU; + framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE; + final TangoPoseData imuTdevicePose = mTango.getPoseAtTime(0.0, framePair); + Matrix4 imuTdev = ScenePoseCalcuator.tangoPoseToMatrix(imuTdevicePose); + + // 3- Combine both to get the transform from the device pose to the RGB camera pose + scenePoseCalcuator.setupExtrinsics(imuTrgb, imuTdev); + } + + /** + * Intended to be called from TangoRajawaliView + */ + void connectCamera(Tango tango, int cameraId) { + this.mTango = tango; + this.mCameraId = cameraId; + this.mConnectedTextureId = connectTangoTexture(); + } + + /** + * Intended to be called from TangoRajawaliView + */ + synchronized void disconnectCamera() { + Tango oldTango = mTango; + mTango = null; + if (oldTango != null) { + oldTango.disconnectCamera(mCameraId); + } + mConnectedTextureId = -1; + mIsCameraConfigured = false; + } + + /** + * Intended to be called from TangoRajawaliView + */ + synchronized void onTangoFrameAvailable() { + mUpdatePending = true; + } + + /** + * Get the latest camera frame timestamp. This value will be updated when + * the updateTexture() is called. + * + * @return The timestamp. This can be used to associate camera data with a + * pose or other sensor data using other pieces of the Tango API. + * + */ + public double getTimestamp() { + return mLastRGBFrameTimestamp; + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java new file mode 100644 index 00000000..82b8041f --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java @@ -0,0 +1,122 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.ar; + +import android.content.Context; +import android.opengl.GLSurfaceView; +import android.util.AttributeSet; + +import com.google.atap.tangoservice.Tango; + +import org.rajawali3d.surface.RajawaliSurfaceView; + +/** + * This is a specialized RajawaliSurfaceView that allows rendering of a Rajawali scene + * together with the Tango Camera Preview and optionally using the Tango Pose Estimation to drive + * the Rajawali Camera and build Augmented Reality applications. + * + */ +public class TangoRajawaliView extends RajawaliSurfaceView { + + private static final String TAG = "TangoRajawaliView"; + TangoRajawaliRenderer mRenderer; + + public TangoRajawaliView(Context context) { + super(context); + // It is important to set render mode to manual to force rendering only when there is a + // Tango Camera image available and get correct synchronization between the camera and the + // rest of the scene + setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY); + } + + public TangoRajawaliView(Context context, AttributeSet attrs) { + super(context, attrs); + // It is important to set render mode to manual to force rendering only when there is a + // Tango Camera image available and get correct synchronization between the camera and the + // rest of the scene + setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY); + } + + /** + * Sets up the RajawaliRenderer that will be used to render the scene. + * In order to use Tango components, a subclass of either TangoRajawaliRenderer + * or TangoRajawaliArRenderer should be used. + */ + public void setSurfaceRenderer(TangoRajawaliRenderer renderer) throws IllegalStateException { + super.setSurfaceRenderer(renderer); + this.mRenderer = renderer; + } + + /** + * Get the latest camera data's timestamp. This value will be updated when + * the updateTexture() is called. + * + * @return The timestamp. This can be used to associate camera data with a + * pose or other sensor data using other pieces of the Tango API. + * + */ + public double getTimestamp() { + return mRenderer.getTimestamp(); + } + + /** + * Updates the TangoRajawaliView with the latest camera data. This does not + * synchronize data in the OpenGL context. + * + * Note, you need to call connectToTangoCamera() with a valid camera ID before + * calling this method. + */ + public void updateTexture() { + mRenderer.updateTexture(); + } + + /** + * Updates the TangoRajawaliView with the latest camera data. This method + * synchronizes the data in the OpenGL context. + * + * Call this method from the onFrameAvailable() method of + * Tango.OnTangoUpdateListener, which provides a set of callbacks for + * getting updates from the Project Tango sensors. + */ + public synchronized void onFrameAvailable() { + mRenderer.onTangoFrameAvailable(); + requestRender(); + } + + /** + * Gets a textureId from a valid OpenGL Context through Rajawali and connects it to the + * TangoRajawaliView. + * + * Use OnFrameAvailable events or updateTexture calls to update the view with + * the latest camera data. Only the RGB and fisheye cameras are currently + * supported. + * + * @param tango A reference to the Tango service. + * @param cameraId The id of the camera to connect to. Ids listed in + * TangoCameraIntrinsics. + */ + public void connectToTangoCamera(Tango tango, int cameraId) { + mRenderer.connectCamera(tango, cameraId); + } + + /** + * Disables rendering of the Tango camera in the TangoCameraMaterial. + * Should be called before disconnecting from the Tango service. + */ + public void disconnectCamera() { + mRenderer.disconnectCamera(); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Axes.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Axes.java new file mode 100644 index 00000000..433fe502 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Axes.java @@ -0,0 +1,50 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables; + +import android.graphics.Color; + +import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.primitives.Line3D; + +import java.util.Stack; + +/** + * Rajawali object representing XYZ axes in 3D space. X is Red, + * Y is Green, and Z is Blue. + */ +public class Axes extends Object3D { + private float mThickness = 3f; + + public Axes() { + addAxis(new Vector3(1, 0, 0), Color.RED); + addAxis(new Vector3(0, 1, 0), Color.GREEN); + addAxis(new Vector3(0, 0, 1), Color.BLUE); + } + + private void addAxis(Vector3 direction, int color) { + Stack points = new Stack(); + points.add(new Vector3()); + points.add(direction); + Line3D line = new Line3D(points, mThickness); + Material material = new Material(); + material.setColor(color); + line.setMaterial(material); + addChild(line); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Frustum.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Frustum.java new file mode 100644 index 00000000..6475a688 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Frustum.java @@ -0,0 +1,74 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables; + +import android.graphics.Color; + +import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.primitives.Line3D; + +import java.util.Collections; +import java.util.Stack; + +/** + * Frustum primitive created from Lines. + */ +public class Frustum extends Object3D { + private float mDepth; + private float mHeight; + private float mWidth; + private float mThickness = 3f; + + public Frustum(float width, float mHeight, float mDepth) { + this.mDepth = mDepth; + this.mWidth = width; + this.mHeight = mHeight; + + Material black = new Material(); + black.setColor(Color.BLACK); + + Vector3 o = new Vector3(0, 0, 0); + Vector3 a = new Vector3(-width/2f, mHeight /2f, -mDepth); + Vector3 b = new Vector3(width/2f, mHeight /2f, -mDepth); + Vector3 c = new Vector3(width/2f, -mHeight /2f, -mDepth); + Vector3 d = new Vector3(-width/2f, -mHeight /2f, -mDepth); + + Line3D line; + Stack points; + + points = new Stack(); + Collections.addAll(points, new Vector3[]{ o, b, c, o, a, d, o }); + line = new Line3D(points, mThickness); + line.setMaterial(black); + addChild(line); + + points = new Stack(); + Collections.addAll(points, new Vector3[]{ a, b }); + line = new Line3D(points, mThickness); + line.setMaterial(black); + addChild(line); + + points = new Stack(); + Collections.addAll(points, new Vector3[]{ c, d }); + line = new Line3D(points, mThickness); + line.setMaterial(black); + addChild(line); + + setMaterial(black); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java new file mode 100644 index 00000000..b0325984 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java @@ -0,0 +1,33 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables; + +import org.rajawali3d.Object3D; +import org.rajawali3d.math.vector.Vector3; + +/** + *A primitive which represents a combination of Frustum and Axes. + */ +public class FrustumAxes extends Object3D { + private Frustum mFrustum; + private Axes mAxes; + public FrustumAxes() { + mFrustum = new Frustum(0.8f, 0.6f, 0.5f); + addChild(mFrustum); + mAxes = new Axes(); + addChild(mAxes); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java new file mode 100644 index 00000000..510df335 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java @@ -0,0 +1,62 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables; + +import android.graphics.Color; + +import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.primitives.Line3D; + +import java.util.Stack; + +/** + * Rajawali primitive object which represents the 'floor' of the current scene. + * This is a static grid placed in the scene to provide perspective in the + * various views. + */ +public class Grid extends Object3D { + public Grid(int size, int step) { + Material m = new Material(); + m.setColor(Color.BLACK); + + Line3D line; + Stack points; + + // Rows + for (float i=-size/2f; i <= size/2f; i += step) { + points = new Stack(); + points.add(new Vector3(i, 0, -size/2f)); + points.add(new Vector3(i, 0, size/2f)); + line = new Line3D(points, 1f); + line.setMaterial(m); + addChild(line); + } + + // Columns + for (float i=-size/2f; i <= size/2f; i += step) { + points = new Stack(); + points.add(new Vector3(-size/2f, 0, i)); + points.add(new Vector3(size/2f, 0, i)); + line = new Line3D(points, 1f); + line.setMaterial(m); + addChild(line); + } + + setMaterial(m); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java new file mode 100644 index 00000000..0547db1f --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java @@ -0,0 +1,53 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables; + +import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; +import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.primitives.Line3D; + +import java.util.Stack; + +/** + * Rajawali object showing the Trajectory of the Project Tango + * device in 3D space. Points are added when the trajectory is updated by + * passing translation data obtained from Tango Pose Data. + */ +public class Trajectory extends Object3D { + private Vector3 mLastPoint = new Vector3(); + private Material mTrajectorymaterial; + private float mThickness = 2f; + + public Trajectory(int color) { + mTrajectorymaterial = new Material(); + mTrajectorymaterial.setColor(color); + } + + public void addSegmentTo(Vector3 newPoint) { + Stack points = new Stack(); + points.add(mLastPoint); + points.add(newPoint); + Line3D line = new Line3D(points, mThickness); + line.setMaterial(mTrajectorymaterial); + addChild(line); + mLastPoint = newPoint; + } + + public Vector3 getLastPoint() { + return mLastPoint; + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java new file mode 100644 index 00000000..bcc08287 --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java @@ -0,0 +1,72 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.rajawali.renderables.primitives; + +import android.graphics.Color; +import android.opengl.GLES10; +import android.opengl.GLES20; + +import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; + +import java.nio.FloatBuffer; + +/** + * A Point primitive for Rajawali. + * Intended to be contributed and PR'ed to Rajawali. + */ +public class Points extends Object3D { + private int mMaxNumberofVertices; + + public Points(int numberOfPoints) { + super(); + mMaxNumberofVertices = numberOfPoints; + init(true); + Material m = new Material(); + m.setColor(Color.GREEN); + setMaterial(m); + } + + // Initialize the buffers for Points primitive. + // Since only vertex and Index buffers are used, we only initialize them using setdata call. + protected void init(boolean createVBOs) { + float[] vertices = new float[mMaxNumberofVertices*3]; + int[] indices = new int[mMaxNumberofVertices]; + for(int i = 0; i < indices.length; ++i){ + indices[i] = i; + } + setData(vertices, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + indices, GLES20.GL_STATIC_DRAW, + true); + } + + // Update the geometry of the points once new Point Cloud Data is available. + public void updatePoints(FloatBuffer pointCloudBuffer, int pointCount) { + pointCloudBuffer.position(0); + mGeometry.setNumIndices(pointCount); + mGeometry.getVertices().position(0); + mGeometry.changeBufferData(mGeometry.getVertexBufferInfo(), pointCloudBuffer, 0, pointCount * 3); + } + + public void preRender() { + super.preRender(); + setDrawingMode(GLES20.GL_POINTS); + GLES10.glPointSize(5.0f); + } +} diff --git a/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java b/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java new file mode 100644 index 00000000..428cdb1a --- /dev/null +++ b/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java @@ -0,0 +1,82 @@ +/* + * Copyright 2015 Google Inc. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package com.projecttango.tangoutils; + +import com.google.atap.tangoservice.TangoPoseData; + +import java.text.DecimalFormat; + +/** + * This is a utility class to format the Pose data in a way want to display the statistics in the + * sample applications + */ +public class TangoPoseUtilities { + + /** + * Get translation string from a pose. + * @param pose: Pose from which translation string is constructed. + * @param decimalFormat: Number of decimals for each component of translation. + * @return + */ + public static String getTranslationString(TangoPoseData pose, DecimalFormat decimalFormat){ + String translationString = "[" + + decimalFormat.format(pose.translation[0]) + ", " + + decimalFormat.format(pose.translation[1]) + ", " + + decimalFormat.format(pose.translation[2]) + "] "; + return translationString; + } + + /** + * Get quaternion string from a pose. + * @param pose: Pose from which quaternion string is constructed. + * @param decimalFormat: Number of decimals for each component of translation. + * @return + */ + public static String getQuaternionString(TangoPoseData pose, DecimalFormat decimalFormat){ + String quaternionString ="[" + + decimalFormat.format(pose.rotation[0]) + ", " + + decimalFormat.format(pose.rotation[1]) + ", " + + decimalFormat.format(pose.rotation[2]) + ", " + + decimalFormat.format(pose.rotation[3]) + "] "; + return quaternionString; + } + + /** + * Get the status of the Pose as a string. + * @param pose: Pose from which status string is constructed. + * @return + */ + public static String getStatusString(TangoPoseData pose){ + String poseStatus = "unknown"; + switch (pose.statusCode){ + case TangoPoseData.POSE_UNKNOWN: + poseStatus = "unknown"; + break; + case TangoPoseData.POSE_INVALID: + poseStatus = "invalid"; + break; + case TangoPoseData.POSE_INITIALIZING: + poseStatus = "initializing"; + break; + case TangoPoseData.POSE_VALID: + poseStatus = "valid"; + break; + default: + poseStatus = "unknown"; + } + return poseStatus; + } +} diff --git a/TangoUtils/build.gradle b/TangoUtils/build.gradle index 5ec6aa5b..ca6de6f5 100644 --- a/TangoUtils/build.gradle +++ b/TangoUtils/build.gradle @@ -13,6 +13,8 @@ buildscript { allprojects { repositories { + mavenLocal() + maven { url "https://oss.sonatype.org/content/repositories/snapshots/" } jcenter() } } diff --git a/TangoUtils/package.xml b/TangoUtils/package.xml new file mode 100644 index 00000000..8a169202 --- /dev/null +++ b/TangoUtils/package.xml @@ -0,0 +1,20 @@ + + + tango_java_sample_utils + 0.0.0 + + Simple Utility Library for Tango Samples + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + + + catkin + redwood_catkin + Experimental + diff --git a/VideoOverlaySample/CMakeLists.txt b/VideoOverlaySample/CMakeLists.txt new file mode 100644 index 00000000..78d56841 --- /dev/null +++ b/VideoOverlaySample/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8) +project(video_overlay_java) + +find_package(redwood_catkin REQUIRED) +redwood_build_only_if(ANDROID) + +catkin_simple() + +file(GLOB_RECURSE SRC_FILES "${CMAKE_CURRENT_SOURCE_DIR}/app/src/main/java" *.java) +file(GLOB_RECURSE RES_FILES "${CMAKE_CURRENT_SOURCE_DIR}/app/src/main/res" *.xml *.png) + +build_gradle_apk(JavaVideoOverlaySample + TRACK # Files to track, trigger rebuilds when changed. + ${SRC_FILES} + ${RES_FILES} + app/src/main/AndroidManifest.xml +) diff --git a/VideoOverlaySample/app/src/main/java/com/projecttango/experiments/videooverlaysample/MainActivity.java b/VideoOverlaySample/app/src/main/java/com/projecttango/experiments/videooverlaysample/MainActivity.java index 7dfd4a04..ea83ca9d 100644 --- a/VideoOverlaySample/app/src/main/java/com/projecttango/experiments/videooverlaysample/MainActivity.java +++ b/VideoOverlaySample/app/src/main/java/com/projecttango/experiments/videooverlaysample/MainActivity.java @@ -47,6 +47,8 @@ public class MainActivity extends Activity { private TangoCameraPreview tangoCameraPreview; private Tango mTango; + private boolean mIsConnected; + private boolean mIsPermissionGranted; @Override protected void onCreate(Bundle savedInstanceState) { @@ -70,6 +72,7 @@ protected void onActivityResult(int requestCode, int resultCode, Intent data) { finish(); } else { startCameraPreview(); + mIsPermissionGranted = true; } } } @@ -82,6 +85,7 @@ private void startCameraPreview() { // Use default configuration for Tango Service. TangoConfig config = mTango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT); mTango.connect(config); + mIsConnected = true; // No need to add any coordinate frame pairs since we are not using // pose data. So just initialize. @@ -117,6 +121,18 @@ public void onTangoEvent(TangoEvent event) { @Override protected void onPause() { super.onPause(); - mTango.disconnect(); + if(mIsConnected) { + mTango.disconnect(); + tangoCameraPreview.disconnectFromTangoCamera(); + mIsConnected = false; + } + } + + @Override + protected void onResume() { + super.onResume(); + if (!mIsConnected && mIsPermissionGranted) { + startCameraPreview(); + } } } diff --git a/VideoOverlaySample/package.xml b/VideoOverlaySample/package.xml new file mode 100644 index 00000000..bd12fdb7 --- /dev/null +++ b/VideoOverlaySample/package.xml @@ -0,0 +1,20 @@ + + + video_overlay_java + 0.0.0 + + Java sample for VideoOverlay using TangoCameraPreview Class + + + r4ravi2008 + + Apache 2.0 + + + tango_java_lib + + + catkin + redwood_catkin + Experimental + \ No newline at end of file From 9d97400fdff46cf6b65d26683ecfc67f597c4312 Mon Sep 17 00:00:00 2001 From: Jason Guo Date: Fri, 9 Oct 2015 07:07:43 -0700 Subject: [PATCH 2/5] release-yamabe --- .../javaarealearning/ALRenderer.java | 109 ------------------ .../javamotiontracking/MTGLRenderer.java | 103 ----------------- .../javapointcloud/PCRenderer.java | 95 --------------- 3 files changed, 307 deletions(-) delete mode 100644 AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALRenderer.java delete mode 100644 MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java delete mode 100644 PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PCRenderer.java diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALRenderer.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALRenderer.java deleted file mode 100644 index 4542eb98..00000000 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALRenderer.java +++ /dev/null @@ -1,109 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -package com.projecttango.experiments.javaarealearning; - -import android.opengl.GLES20; -import android.opengl.GLSurfaceView; -import android.opengl.Matrix; - -import javax.microedition.khronos.egl.EGLConfig; -import javax.microedition.khronos.opengles.GL10; - -import com.projecttango.tangoutils.Renderer; -import com.projecttango.tangoutils.renderables.CameraFrustum; -import com.projecttango.tangoutils.renderables.CameraFrustumAndAxis; -import com.projecttango.tangoutils.renderables.Grid; -import com.projecttango.tangoutils.renderables.Trajectory; - -/** - * OpenGL rendering class for the AreaLearningActivity API sample. This class manages the objects - * visible in the OpenGL view which are the {@link CameraFrustum}, {@link CameraFrustumAndAxis}, - * {@link Trajectory}, and the {@link Grid}. These objects are implemented in the TangoUtils library - * in the package {@link com.projecttango.tangoutils.renderables}. - * - * This class receives also handles the user-selected camera view, which can be 1st person, 3rd - * person, or top-down. - */ -public class ALRenderer extends Renderer implements GLSurfaceView.Renderer { - - private Trajectory mGreenTrajectory; - private Trajectory mBlueTrajectory; - private CameraFrustum mCameraFrustum; - private CameraFrustumAndAxis mCameraFrustumAndAxis; - private Grid mFloorGrid; - private boolean mIsValid = false; - @Override - public void onSurfaceCreated(GL10 gl, EGLConfig config) { - // Set background color and enable depth testing - GLES20.glClearColor(1f, 1f, 1f, 1.0f); - GLES20.glEnable(GLES20.GL_DEPTH_TEST); - resetModelMatCalculator(); - mCameraFrustum = new CameraFrustum(); - mFloorGrid = new Grid(); - mCameraFrustumAndAxis = new CameraFrustumAndAxis(); - mGreenTrajectory = new Trajectory(3); - mGreenTrajectory.setColor(new float[] { 0.39f, 0.56f, 0.03f, 1.0f }); - mBlueTrajectory = new Trajectory(3); - mBlueTrajectory.setColor(new float[] { 0.22f, 0.28f, 0.67f, 1.0f }); - // Construct the initial view matrix - Matrix.setIdentityM(mViewMatrix, 0); - Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f); - mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix()); - mIsValid = true; - } - - @Override - public void onSurfaceChanged(GL10 gl, int width, int height) { - GLES20.glViewport(0, 0, width, height); - mCameraAspect = (float) width / height; - Matrix.perspectiveM(mProjectionMatrix, 0, THIRD_PERSON_FOV, mCameraAspect, CAMERA_NEAR, - CAMERA_FAR); - } - - @Override - public void onDrawFrame(GL10 gl) { - synchronized (AreaLearningActivity.sharedLock) { - GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT); - mGreenTrajectory.draw(getViewMatrix(), mProjectionMatrix); - mBlueTrajectory.draw(getViewMatrix(), mProjectionMatrix); - mFloorGrid.draw(getViewMatrix(), mProjectionMatrix); - mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix); - } - updateViewMatrix(); - } - - public CameraFrustum getCameraFrustum() { - return mCameraFrustum; - } - - public CameraFrustumAndAxis getCameraFrustumAndAxis() { - return mCameraFrustumAndAxis; - } - - public Trajectory getBlueTrajectory() { - return mBlueTrajectory; - } - - public Trajectory getGreenTrajectory() { - return mGreenTrajectory; - } - - public boolean isValid(){ - return mIsValid; - } - -} diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java deleted file mode 100644 index cf9407aa..00000000 --- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -package com.projecttango.experiments.javamotiontracking; - -import android.opengl.GLES20; -import android.opengl.GLSurfaceView; -import android.opengl.Matrix; - -import javax.microedition.khronos.egl.EGLConfig; -import javax.microedition.khronos.opengles.GL10; - -import com.projecttango.tangoutils.Renderer; -import com.projecttango.tangoutils.renderables.CameraFrustum; -import com.projecttango.tangoutils.renderables.CameraFrustumAndAxis; -import com.projecttango.tangoutils.renderables.Grid; -import com.projecttango.tangoutils.renderables.Trajectory; - -/** - * OpenGL rendering class for the Motion Tracking API sample. This class managers the objects - * visible in the OpenGL view which are the {@link CameraFrustum}, {@link CameraFrustumAndAxis}, - * {@link Trajectory}, and the {@link Grid}. These objects are implemented in the TangoUtils library - * in the package {@link com.projecttango.tangoutils.renderables}. - * - * This class receives also handles the user-selected camera view, which can be 1st person, 3rd - * person, or top-down. - */ -public class MTGLRenderer extends Renderer implements GLSurfaceView.Renderer { - - private Trajectory mTrajectory; - private CameraFrustum mCameraFrustum; - private CameraFrustumAndAxis mCameraFrustumAndAxis; - private Grid mFloorGrid; - private boolean mIsValid = false; - @Override - public void onSurfaceCreated(GL10 gl, EGLConfig config) { - - // Set background color and enable depth testing - GLES20.glClearColor(1f, 1f, 1f, 1.0f); - GLES20.glEnable(GLES20.GL_DEPTH_TEST); - - // resetModelMatCalculator(); - mCameraFrustum = new CameraFrustum(); - mFloorGrid = new Grid(); - mCameraFrustumAndAxis = new CameraFrustumAndAxis(); - mTrajectory = new Trajectory(3); - - // Construct the initial view matrix - Matrix.setIdentityM(mViewMatrix, 0); - Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f); - mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix()); - mIsValid = true; - - } - - @Override - public void onSurfaceChanged(GL10 gl, int width, int height) { - GLES20.glViewport(0, 0, width, height); - mCameraAspect = (float) width / height; - Matrix.perspectiveM(mProjectionMatrix, 0, THIRD_PERSON_FOV, mCameraAspect, CAMERA_NEAR, - CAMERA_FAR); - } - - @Override - public void onDrawFrame(GL10 gl) { - synchronized (MotionTrackingActivity.sharedLock) { - GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT); - mTrajectory.draw(getViewMatrix(), mProjectionMatrix); - mFloorGrid.draw(getViewMatrix(), mProjectionMatrix); - mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix); - } - updateViewMatrix(); - } - - public CameraFrustum getCameraFrustum() { - return mCameraFrustum; - } - - public CameraFrustumAndAxis getCameraFrustumAndAxis() { - return mCameraFrustumAndAxis; - } - - public Trajectory getTrajectory() { - return mTrajectory; - } - - public boolean isValid(){ - return mIsValid; - } -} diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PCRenderer.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PCRenderer.java deleted file mode 100644 index 3638a9b3..00000000 --- a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PCRenderer.java +++ /dev/null @@ -1,95 +0,0 @@ -/* - * Copyright 2014 Google Inc. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -package com.projecttango.experiments.javapointcloud; - -import android.opengl.GLES20; -import android.opengl.GLSurfaceView; -import android.opengl.Matrix; - -import javax.microedition.khronos.egl.EGLConfig; -import javax.microedition.khronos.opengles.GL10; - -import com.projecttango.tangoutils.Renderer; -import com.projecttango.tangoutils.renderables.CameraFrustum; -import com.projecttango.tangoutils.renderables.CameraFrustumAndAxis; -import com.projecttango.tangoutils.renderables.Grid; -import com.projecttango.tangoutils.renderables.PointCloud; - -/** - * OpenGL rendering class for the Motion Tracking API sample. This class managers the objects - * visible in the OpenGL view which are the {@link CameraFrustum}, {@link PointCloud} and the - * {@link Grid}. These objects are implemented in the TangoUtils library in the package - * {@link com.projecttango.tangoutils.renderables}. - * - * This class receives {@link TangoPose} data from the {@link MotionTracking} class and updates the - * model and view matrices of the {@link Renderable} objects appropriately. It also handles the - * user-selected camera view, which can be 1st person, 3rd person, or top-down. - * - */ -public class PCRenderer extends Renderer implements GLSurfaceView.Renderer { - - private PointCloud mPointCloud; - private Grid mGrid; - private CameraFrustumAndAxis mCameraFrustumAndAxis; - private int mMaxDepthPoints; - private boolean mIsValid = false; - public PCRenderer(int maxDepthPoints) { - mMaxDepthPoints = maxDepthPoints; - } - - @Override - public void onSurfaceCreated(GL10 gl, EGLConfig config) { - GLES20.glClearColor(1f, 1f, 1f, 1.0f); - GLES20.glEnable(GLES20.GL_DEPTH_TEST); - mPointCloud = new PointCloud(mMaxDepthPoints); - mGrid = new Grid(); - mCameraFrustumAndAxis = new CameraFrustumAndAxis(); - Matrix.setIdentityM(mViewMatrix, 0); - Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f); - mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix()); - mIsValid = true; - } - - @Override - public void onSurfaceChanged(GL10 gl, int width, int height) { - GLES20.glViewport(0, 0, width, height); - mCameraAspect = (float) width / height; - Matrix.perspectiveM(mProjectionMatrix, 0, CAMERA_FOV, mCameraAspect, CAMERA_NEAR, - CAMERA_FAR); - } - - @Override - public void onDrawFrame(GL10 gl) { - GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT); - mGrid.draw(mViewMatrix, mProjectionMatrix); - synchronized (PointCloudActivity.depthLock) { - mPointCloud.draw(mViewMatrix, mProjectionMatrix); - } - synchronized (PointCloudActivity.poseLock) { - mCameraFrustumAndAxis.draw(mViewMatrix, mProjectionMatrix); - } - updateViewMatrix(); - } - - public PointCloud getPointCloud() { - return mPointCloud; - } - - public boolean isValid(){ - return mIsValid; - } -} From 52f9dc7f6ee9f0185e194e6a4c03c3e404ec3f7a Mon Sep 17 00:00:00 2001 From: Jason Guo Date: Tue, 13 Oct 2015 10:37:00 -0700 Subject: [PATCH 3/5] release-yamabe --- AreaLearningJava/CMakeLists.txt | 16 ----------- AreaLearningJava/package.xml | 20 -------------- AugmentedRealitySample/CMakeLists.txt | 16 ----------- AugmentedRealitySample/package.xml | 22 ---------------- MotionTrackingJava/CMakeLists.txt | 16 ----------- MotionTrackingJava/package.xml | 20 -------------- PointCloudJava/CMakeLists.txt | 16 ----------- PointCloudJava/package.xml | 22 ---------------- QuickstartJava/CMakeLists.txt | 16 ----------- QuickstartJava/package.xml | 20 -------------- TangoUtils/CMakeLists.txt | 16 ----------- TangoUtils/import-summary.txt | 38 --------------------------- TangoUtils/package.xml | 20 -------------- VideoOverlaySample/CMakeLists.txt | 17 ------------ VideoOverlaySample/package.xml | 20 -------------- 15 files changed, 295 deletions(-) delete mode 100644 AreaLearningJava/CMakeLists.txt delete mode 100644 AreaLearningJava/package.xml delete mode 100644 AugmentedRealitySample/CMakeLists.txt delete mode 100644 AugmentedRealitySample/package.xml delete mode 100644 MotionTrackingJava/CMakeLists.txt delete mode 100644 MotionTrackingJava/package.xml delete mode 100644 PointCloudJava/CMakeLists.txt delete mode 100644 PointCloudJava/package.xml delete mode 100644 QuickstartJava/CMakeLists.txt delete mode 100644 QuickstartJava/package.xml delete mode 100644 TangoUtils/CMakeLists.txt delete mode 100644 TangoUtils/import-summary.txt delete mode 100644 TangoUtils/package.xml delete mode 100644 VideoOverlaySample/CMakeLists.txt delete mode 100644 VideoOverlaySample/package.xml diff --git a/AreaLearningJava/CMakeLists.txt b/AreaLearningJava/CMakeLists.txt deleted file mode 100644 index 3d0d8d7d..00000000 --- a/AreaLearningJava/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(area_learning_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_apk(JavaAreaLearning - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/AreaLearningJava/package.xml b/AreaLearningJava/package.xml deleted file mode 100644 index 44cb9ba3..00000000 --- a/AreaLearningJava/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - area_learning_java - 0.0.0 - - Java Motion Tracking Sample - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - tango_java_sample_utils - - - catkin - redwood_catkin - diff --git a/AugmentedRealitySample/CMakeLists.txt b/AugmentedRealitySample/CMakeLists.txt deleted file mode 100644 index 2ce39f0a..00000000 --- a/AugmentedRealitySample/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(augmented_reality_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_apk(AugmentedRealitySample - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/AugmentedRealitySample/package.xml b/AugmentedRealitySample/package.xml deleted file mode 100644 index ba221f06..00000000 --- a/AugmentedRealitySample/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - augmented_reality_java - 0.0.0 - - Basic Java Augmented Reality Example - - - r4ravi2008 - adamantivm - - Apache 2.0 - - - tango_java_lib - tango_java_sample_utils - - - catkin - redwood_catkin - Experimental - \ No newline at end of file diff --git a/MotionTrackingJava/CMakeLists.txt b/MotionTrackingJava/CMakeLists.txt deleted file mode 100644 index d4957da8..00000000 --- a/MotionTrackingJava/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(motion_tracking_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_apk(JavaMotionTracking - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/MotionTrackingJava/package.xml b/MotionTrackingJava/package.xml deleted file mode 100644 index bf2e90b9..00000000 --- a/MotionTrackingJava/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - motion_tracking_java - 0.0.0 - - Java Motion Tracking Sample - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - tango_java_sample_utils - - - catkin - redwood_catkin - diff --git a/PointCloudJava/CMakeLists.txt b/PointCloudJava/CMakeLists.txt deleted file mode 100644 index af1ce0f5..00000000 --- a/PointCloudJava/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(point_cloud_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_apk(JavaPointCloud - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/PointCloudJava/package.xml b/PointCloudJava/package.xml deleted file mode 100644 index 2f503bab..00000000 --- a/PointCloudJava/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - point_cloud_java - 0.0.0 - - Point Cloud Java Sample - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - tango_java_sample_utils - tango_ux_support_library - - - catkin - redwood_catkin - Experimental - diff --git a/QuickstartJava/CMakeLists.txt b/QuickstartJava/CMakeLists.txt deleted file mode 100644 index 54a78ae4..00000000 --- a/QuickstartJava/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(quick_start_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_apk(JavaQuickStart - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/QuickstartJava/package.xml b/QuickstartJava/package.xml deleted file mode 100644 index 3c8efb97..00000000 --- a/QuickstartJava/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - quick_start_java - 0.0.0 - - Java sample for showing the minimum usage of Project Tango Java API - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - - - catkin - redwood_catkin - Experimental - \ No newline at end of file diff --git a/TangoUtils/CMakeLists.txt b/TangoUtils/CMakeLists.txt deleted file mode 100644 index 6b1dd742..00000000 --- a/TangoUtils/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(tango_java_sample_utils) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -# This macro will also generate a depends.inc file with useful source and -# dependency information to pass on to ndk-build. -build_gradle_aar(TangoUtils - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - app/src/main/AndroidManifest.xml - JNI_DIRECTORY app/src/main/jni -) diff --git a/TangoUtils/import-summary.txt b/TangoUtils/import-summary.txt deleted file mode 100644 index 05302cd0..00000000 --- a/TangoUtils/import-summary.txt +++ /dev/null @@ -1,38 +0,0 @@ -ECLIPSE ANDROID PROJECT IMPORT SUMMARY -====================================== - -Ignored Files: --------------- -The following files were *not* copied into the new Gradle project; you -should evaluate whether these are still needed in your project and if -so manually move them: - -* CMakeLists.txt -* build.xml -* ic_launcher-web.png -* package.xml -* proguard-project.txt - -Moved Files: ------------- -Android Gradle projects use a different directory structure than ADT -Eclipse projects. Here's how the projects were restructured: - -* AndroidManifest.xml => TangoUtils/src/main/AndroidManifest.xml -* res/ => TangoUtils/src/main/res/ -* src/ => TangoUtils/src/main/java/ - -Next Steps: ------------ -You can now build the project. The Gradle project needs network -connectivity to download dependencies. - -Bugs: ------ -If for some reason your project does not build, and you determine that -it is due to a bug or limitation of the Eclipse to Gradle importer, -please file a bug at http://b.android.com with category -Component-Tools. - -(This import summary is for your information only, and can be deleted -after import once you are satisfied with the results.) diff --git a/TangoUtils/package.xml b/TangoUtils/package.xml deleted file mode 100644 index 8a169202..00000000 --- a/TangoUtils/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - tango_java_sample_utils - 0.0.0 - - Simple Utility Library for Tango Samples - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - - - catkin - redwood_catkin - Experimental - diff --git a/VideoOverlaySample/CMakeLists.txt b/VideoOverlaySample/CMakeLists.txt deleted file mode 100644 index 78d56841..00000000 --- a/VideoOverlaySample/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -cmake_minimum_required(VERSION 2.8) -project(video_overlay_java) - -find_package(redwood_catkin REQUIRED) -redwood_build_only_if(ANDROID) - -catkin_simple() - -file(GLOB_RECURSE SRC_FILES "${CMAKE_CURRENT_SOURCE_DIR}/app/src/main/java" *.java) -file(GLOB_RECURSE RES_FILES "${CMAKE_CURRENT_SOURCE_DIR}/app/src/main/res" *.xml *.png) - -build_gradle_apk(JavaVideoOverlaySample - TRACK # Files to track, trigger rebuilds when changed. - ${SRC_FILES} - ${RES_FILES} - app/src/main/AndroidManifest.xml -) diff --git a/VideoOverlaySample/package.xml b/VideoOverlaySample/package.xml deleted file mode 100644 index bd12fdb7..00000000 --- a/VideoOverlaySample/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - video_overlay_java - 0.0.0 - - Java sample for VideoOverlay using TangoCameraPreview Class - - - r4ravi2008 - - Apache 2.0 - - - tango_java_lib - - - catkin - redwood_catkin - Experimental - \ No newline at end of file From c55cc774e8b6af1fdbe04cad4220c7b0db2c535c Mon Sep 17 00:00:00 2001 From: Jason Guo Date: Tue, 13 Oct 2015 13:16:32 -0700 Subject: [PATCH 4/5] release-yamabe --- .../AreaLearningActivity.java | 2 + .../AreaLearningRajawaliRenderer.java | 33 ++++++---- MotionTrackingJava/app/build.gradle | 2 +- .../MotionTrackingActivity.java | 2 + .../MotionTrackingRajawaliRenderer.java | 27 ++++---- MotionTrackingJava/settings.gradle | 2 +- PointCloudJava/app/build.gradle | 3 +- .../PointCloudRajawaliRenderer.java | 5 +- .../rajawali/renderables/FrustumAxes.java | 55 +++++++++++++--- .../rajawali/renderables/Grid.java | 49 +++++++------- .../rajawali/renderables/Trajectory.java | 64 ++++++++++++++----- 11 files changed, 164 insertions(+), 80 deletions(-) diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java index 55d7cb93..4c804325 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java @@ -48,6 +48,7 @@ import com.projecttango.tangoutils.TangoPoseUtilities; +import org.rajawali3d.surface.IRajawaliSurface; import org.rajawali3d.surface.RajawaliSurfaceView; /** @@ -242,6 +243,7 @@ private AreaLearningRajawaliRenderer setupGLViewAndRenderer(){ // OpenGL view where all of the graphics are drawn RajawaliSurfaceView glView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); glView.setEGLContextClientVersion(2); + glView.setRenderMode(IRajawaliSurface.RENDERMODE_CONTINUOUSLY); glView.setSurfaceRenderer(renderer); return renderer; } diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java index 40fb6c16..3497daaf 100644 --- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java +++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java @@ -51,6 +51,7 @@ public class AreaLearningRajawaliRenderer extends RajawaliRenderer { // Latest available device pose; private Pose mDevicePose = new Pose(Vector3.ZERO, Quaternion.getIdentity()); + private boolean mPoseUpdated = false; public AreaLearningRajawaliRenderer(Context context) { super(context); @@ -60,17 +61,17 @@ public AreaLearningRajawaliRenderer(Context context) { @Override protected void initScene() { - Grid grid = new Grid(100, 1); + Grid grid = new Grid(100, 1, 1, 0xFFCCCCCC); grid.setPosition(0, -1.3f, 0); getCurrentScene().addChild(grid); - mFrustumAxes = new FrustumAxes(); + mFrustumAxes = new FrustumAxes(3); getCurrentScene().addChild(mFrustumAxes); - mBlueTrajectory = new Trajectory(Color.BLUE); + mBlueTrajectory = new Trajectory(Color.BLUE, 2); getCurrentScene().addChild(mBlueTrajectory); - mGreenTrajectory = new Trajectory(Color.GREEN); + mGreenTrajectory = new Trajectory(Color.GREEN, 2); getCurrentScene().addChild(mGreenTrajectory); getCurrentScene().setBackgroundColor(Color.WHITE); @@ -86,18 +87,21 @@ protected void onRender(long ellapsedRealtime, double deltaTime) { // Update the scene objects with the latest device position and orientation information. // Synchronize to avoid concurrent access from the Tango callback thread below. synchronized (this) { - mFrustumAxes.setPosition(mDevicePose.getPosition()); - mFrustumAxes.setOrientation(mDevicePose.getOrientation()); - if(mIsRelocalized){ - if (mGreenTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { - mGreenTrajectory.addSegmentTo(mDevicePose.getPosition()); - } - } else { - if (mBlueTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { - mBlueTrajectory.addSegmentTo(mDevicePose.getPosition()); + if (mPoseUpdated) { + mPoseUpdated = false; + mFrustumAxes.setPosition(mDevicePose.getPosition()); + mFrustumAxes.setOrientation(mDevicePose.getOrientation()); + if (mIsRelocalized) { + if (mGreenTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { + mGreenTrajectory.addSegmentTo(mDevicePose.getPosition()); + } + } else { + if (mBlueTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { + mBlueTrajectory.addSegmentTo(mDevicePose.getPosition()); + } } + mTouchViewHandler.updateCamera(mDevicePose.getPosition(), mDevicePose.getOrientation()); } - mTouchViewHandler.updateCamera(mDevicePose.getPosition(), mDevicePose.getOrientation()); } } @@ -113,6 +117,7 @@ protected void onRender(long ellapsedRealtime, double deltaTime) { public synchronized void updateDevicePose(TangoPoseData tangoPoseData, boolean isRelocalized) { mDevicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData); mIsRelocalized = isRelocalized; + mPoseUpdated = true; } @Override diff --git a/MotionTrackingJava/app/build.gradle b/MotionTrackingJava/app/build.gradle index 396bca1a..3202a884 100644 --- a/MotionTrackingJava/app/build.gradle +++ b/MotionTrackingJava/app/build.gradle @@ -38,7 +38,7 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { dependencies { compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) - compile(name: 'TangoUtils', ext: 'aar') + compile (name: 'TangoUtils', ext: 'aar') compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java index d8eccb55..589c1d79 100644 --- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java +++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java @@ -39,6 +39,7 @@ import android.widget.TextView; import android.widget.Toast; +import org.rajawali3d.surface.IRajawaliSurface; import org.rajawali3d.surface.RajawaliSurfaceView; import java.text.DecimalFormat; @@ -99,6 +100,7 @@ private MotionTrackingRajawaliRenderer setupGLViewAndRenderer(){ // OpenGL view where all of the graphics are drawn RajawaliSurfaceView glView = (RajawaliSurfaceView) findViewById(R.id.gl_surface_view); glView.setEGLContextClientVersion(2); + glView.setRenderMode(IRajawaliSurface.RENDERMODE_CONTINUOUSLY); glView.setSurfaceRenderer(renderer); return renderer; diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java index 7354d4fc..e4841e2b 100644 --- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java +++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java @@ -51,7 +51,8 @@ public class MotionTrackingRajawaliRenderer extends RajawaliRenderer { private TouchViewHandler touchViewHandler; // Latest available device pose; - private Pose devicePose = new Pose(Vector3.ZERO, Quaternion.getIdentity()); + private Pose mDevicePose = new Pose(Vector3.ZERO, Quaternion.getIdentity()); + private boolean mPoseUpdated = false; public MotionTrackingRajawaliRenderer(Context context) { super(context); @@ -60,14 +61,14 @@ public MotionTrackingRajawaliRenderer(Context context) { @Override protected void initScene() { - Grid grid = new Grid(100, 1); + Grid grid = new Grid(100, 1, 1, 0xFFCCCCCC); grid.setPosition(0, -1.3f, 0); getCurrentScene().addChild(grid); - mFrustumAxes = new FrustumAxes(); + mFrustumAxes = new FrustumAxes(3); getCurrentScene().addChild(mFrustumAxes); - mTrajectory = new Trajectory(Color.BLUE); + mTrajectory = new Trajectory(Color.BLUE, 2); getCurrentScene().addChild(mTrajectory); getCurrentScene().setBackgroundColor(Color.WHITE); @@ -83,14 +84,17 @@ protected void onRender(long ellapsedRealtime, double deltaTime) { // Update the scene objects with the latest device position and orientation information. // Synchronize to avoid concurrent access from the Tango callback thread below. synchronized (this) { - mFrustumAxes.setPosition(devicePose.getPosition()); - mFrustumAxes.setOrientation(devicePose.getOrientation()); + if (mPoseUpdated) { + mPoseUpdated = false; + mFrustumAxes.setPosition(mDevicePose.getPosition()); + mFrustumAxes.setOrientation(mDevicePose.getOrientation()); - if (mTrajectory.getLastPoint().distanceTo2(devicePose.getPosition()) > THRESHOLD) { - mTrajectory.addSegmentTo(devicePose.getPosition()); - } + if (mTrajectory.getLastPoint().distanceTo2(mDevicePose.getPosition()) > THRESHOLD) { + mTrajectory.addSegmentTo(mDevicePose.getPosition()); + } - touchViewHandler.updateCamera(devicePose.getPosition(), devicePose.getOrientation()); + touchViewHandler.updateCamera(mDevicePose.getPosition(), mDevicePose.getOrientation()); + } } } @@ -100,7 +104,8 @@ protected void onRender(long ellapsedRealtime, double deltaTime) { * concurrent access from the OpenGL thread above. */ public synchronized void updateDevicePose(TangoPoseData tangoPoseData) { - devicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData); + mDevicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData); + mPoseUpdated = true; } @Override diff --git a/MotionTrackingJava/settings.gradle b/MotionTrackingJava/settings.gradle index 9d495b34..e7b4def4 100644 --- a/MotionTrackingJava/settings.gradle +++ b/MotionTrackingJava/settings.gradle @@ -1 +1 @@ -include ':app' \ No newline at end of file +include ':app' diff --git a/PointCloudJava/app/build.gradle b/PointCloudJava/app/build.gradle index 86c8a44c..39b73431 100644 --- a/PointCloudJava/app/build.gradle +++ b/PointCloudJava/app/build.gradle @@ -37,8 +37,7 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { } dependencies { - compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) - compile(name: 'TangoUtils', ext: 'aar') + compile (name: 'TangoUtils', ext: 'aar') compile (name: 'tango-ux-support-library', ext: 'aar') compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java index 38f5103a..a6181eb8 100644 --- a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java +++ b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudRajawaliRenderer.java @@ -51,7 +51,6 @@ public class PointCloudRajawaliRenderer extends RajawaliRenderer { private Points mPoints; private PointCloudManager mPointCloudManager; - public PointCloudRajawaliRenderer(Context context, PointCloudManager pointCloudManager) { super(context); mTouchViewHandler = new TouchViewHandler(mContext, getCurrentCamera()); @@ -61,11 +60,11 @@ public PointCloudRajawaliRenderer(Context context, PointCloudManager pointCloudM @Override protected void initScene() { - mGrid = new Grid(100, 1); + mGrid = new Grid(100, 1, 1, 0xFFCCCCCC); mGrid.setPosition(0, -1.3f, 0); getCurrentScene().addChild(mGrid); - mFrustumAxes = new FrustumAxes(); + mFrustumAxes = new FrustumAxes(3); getCurrentScene().addChild(mFrustumAxes); mPoints = new Points(MAX_NUMBER_OF_POINTS); diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java index b0325984..39dc7468 100644 --- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java @@ -15,19 +15,58 @@ */ package com.projecttango.rajawali.renderables; +import android.graphics.Color; + import org.rajawali3d.Object3D; +import org.rajawali3d.materials.Material; import org.rajawali3d.math.vector.Vector3; +import org.rajawali3d.primitives.Line3D; + +import java.util.Arrays; +import java.util.Collections; +import java.util.Stack; /** *A primitive which represents a combination of Frustum and Axes. */ -public class FrustumAxes extends Object3D { - private Frustum mFrustum; - private Axes mAxes; - public FrustumAxes() { - mFrustum = new Frustum(0.8f, 0.6f, 0.5f); - addChild(mFrustum); - mAxes = new Axes(); - addChild(mAxes); +public class FrustumAxes extends Line3D { + private static final float FRUSTUM_WIDTH = 0.8f; + private static final float FRUSTUM_HEIGHT = 0.6f; + private static final float FRUSTUM_DEPTH = 0.5f; + + public FrustumAxes(float thickness) { + super(makePoints(), thickness, makeColors()); + Material material = new Material(); + material.useVertexColors(true); + setMaterial(material); + } + + private static Stack makePoints() { + Vector3 o = new Vector3(0, 0, 0); + Vector3 a = new Vector3(-FRUSTUM_WIDTH / 2f, FRUSTUM_HEIGHT / 2f, -FRUSTUM_DEPTH); + Vector3 b = new Vector3(FRUSTUM_WIDTH / 2f, FRUSTUM_HEIGHT / 2f, -FRUSTUM_DEPTH); + Vector3 c = new Vector3(FRUSTUM_WIDTH / 2f, -FRUSTUM_HEIGHT / 2f, -FRUSTUM_DEPTH); + Vector3 d = new Vector3(-FRUSTUM_WIDTH / 2f, -FRUSTUM_HEIGHT / 2f, -FRUSTUM_DEPTH); + + Vector3 x = new Vector3(1, 0, 0); + Vector3 y = new Vector3(0, 1, 0); + Vector3 z = new Vector3(0, 0, 1); + + Stack points = new Stack(); + Collections.addAll(points, new Vector3[]{o, x, o, y, o, z, o, a, b, o, b, c, o, c, d, o, d, a}); + + return points; + } + + private static int[] makeColors() { + int[] colors = new int[18]; + Arrays.fill(colors, Color.BLACK); + colors[0] = Color.RED; + colors[1] = Color.RED; + colors[2] = Color.GREEN; + colors[3] = Color.GREEN; + colors[4] = Color.BLUE; + colors[5] = Color.BLUE; + return colors; } } diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java index 510df335..51ad3211 100644 --- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Grid.java @@ -15,9 +15,8 @@ */ package com.projecttango.rajawali.renderables; -import android.graphics.Color; +import android.opengl.GLES20; -import org.rajawali3d.Object3D; import org.rajawali3d.materials.Material; import org.rajawali3d.math.vector.Vector3; import org.rajawali3d.primitives.Line3D; @@ -25,38 +24,38 @@ import java.util.Stack; /** - * Rajawali primitive object which represents the 'floor' of the current scene. + * Rajawali object which represents the 'floor' of the current scene. * This is a static grid placed in the scene to provide perspective in the * various views. */ -public class Grid extends Object3D { - public Grid(int size, int step) { - Material m = new Material(); - m.setColor(Color.BLACK); - - Line3D line; - Stack points; +public class Grid extends Line3D { + public Grid(int size, int step, float thickness, int color) { + super(calculatePoints(size, step), thickness, color); + Material material = new Material(); + material.setColor(color); + this.setMaterial(material); + } + private static Stack calculatePoints(int size, int step) { + Stack points = new Stack(); // Rows - for (float i=-size/2f; i <= size/2f; i += step) { - points = new Stack(); - points.add(new Vector3(i, 0, -size/2f)); - points.add(new Vector3(i, 0, size/2f)); - line = new Line3D(points, 1f); - line.setMaterial(m); - addChild(line); + for (float i = -size / 2f; i <= size / 2f; i += step) { + points.add(new Vector3(i, 0 ,-size / 2f)); + points.add(new Vector3(i, 0, size / 2f)); } // Columns - for (float i=-size/2f; i <= size/2f; i += step) { - points = new Stack(); - points.add(new Vector3(-size/2f, 0, i)); - points.add(new Vector3(size/2f, 0, i)); - line = new Line3D(points, 1f); - line.setMaterial(m); - addChild(line); + for (float i = -size / 2f; i <= size / 2f; i += step) { + points.add(new Vector3(-size / 2f, 0, i)); + points.add(new Vector3(size / 2f, 0, i)); } - setMaterial(m); + return points; + } + + @Override + protected void init(boolean createVBOs) { + super.init(createVBOs); + setDrawingMode(GLES20.GL_LINES); } } diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java index 0547db1f..854a4295 100644 --- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java +++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java @@ -15,12 +15,16 @@ */ package com.projecttango.rajawali.renderables; +import android.opengl.GLES20; + +import org.rajawali3d.Geometry3D; import org.rajawali3d.Object3D; import org.rajawali3d.materials.Material; import org.rajawali3d.math.vector.Vector3; -import org.rajawali3d.primitives.Line3D; -import java.util.Stack; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; +import java.nio.FloatBuffer; /** * Rajawali object showing the Trajectory of the Project Tango @@ -28,25 +32,55 @@ * passing translation data obtained from Tango Pose Data. */ public class Trajectory extends Object3D { + private int mMaxNumberOfVertices = 9000; private Vector3 mLastPoint = new Vector3(); - private Material mTrajectorymaterial; - private float mThickness = 2f; + private FloatBuffer mVertexBuffer; + private int mTrajectoryCount; + public Trajectory(int color, float thickness) { + super(); + init(true); + Material m = new Material(); + m.setColor(color); + setMaterial(m); + mVertexBuffer = ByteBuffer + .allocateDirect(mMaxNumberOfVertices * Geometry3D.FLOAT_SIZE_BYTES) + .order(ByteOrder.nativeOrder()).asFloatBuffer(); + + } - public Trajectory(int color) { - mTrajectorymaterial = new Material(); - mTrajectorymaterial.setColor(color); + // Initialize the buffers for Trajectory primitive. + // Since only vertex and Index buffers are used, we only initialize them using setdata call. + protected void init(boolean createVBOs) { + float[] vertices = new float[mMaxNumberOfVertices*3]; + int[] indices = new int[mMaxNumberOfVertices]; + for(int i = 0; i < indices.length; ++i){ + indices[i] = i; + } + setData(vertices, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + null, GLES20.GL_STATIC_DRAW, + indices, GLES20.GL_STATIC_DRAW, + createVBOs); } - public void addSegmentTo(Vector3 newPoint) { - Stack points = new Stack(); - points.add(mLastPoint); - points.add(newPoint); - Line3D line = new Line3D(points, mThickness); - line.setMaterial(mTrajectorymaterial); - addChild(line); - mLastPoint = newPoint; + // Update the geometry of the Trajectory once new vertex is available. + public void addSegmentTo(Vector3 vertex) { + mVertexBuffer.position(mTrajectoryCount * 3); + mVertexBuffer.put((float) vertex.x); + mVertexBuffer.put((float) vertex.y); + mVertexBuffer.put((float) vertex.z); + mTrajectoryCount++; + mLastPoint = vertex.clone(); + mGeometry.setNumIndices(mTrajectoryCount); + mGeometry.getVertices().position(0); + mGeometry.changeBufferData(mGeometry.getVertexBufferInfo(), mVertexBuffer, 0, mTrajectoryCount * 3); } + public void preRender() { + super.preRender(); + setDrawingMode(GLES20.GL_LINE_STRIP); + } public Vector3 getLastPoint() { return mLastPoint; } From 90bc469327da6f4f47436567c90a608c20f7b296 Mon Sep 17 00:00:00 2001 From: Ravi K Date: Tue, 13 Oct 2015 09:57:23 -0700 Subject: [PATCH 5/5] update build files --- AreaLearningJava/app/build.gradle | 1 - MotionTrackingJava/app/build.gradle | 1 - TangoReleaseLibs/aar/TangoUtils.aar | Bin 385602 -> 79566 bytes 3 files changed, 2 deletions(-) diff --git a/AreaLearningJava/app/build.gradle b/AreaLearningJava/app/build.gradle index ec23419f..160ea9db 100644 --- a/AreaLearningJava/app/build.gradle +++ b/AreaLearningJava/app/build.gradle @@ -36,7 +36,6 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { } dependencies { - compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) compile(name: 'TangoUtils', ext: 'aar') compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } diff --git a/MotionTrackingJava/app/build.gradle b/MotionTrackingJava/app/build.gradle index 3202a884..fb458b5c 100644 --- a/MotionTrackingJava/app/build.gradle +++ b/MotionTrackingJava/app/build.gradle @@ -37,7 +37,6 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) { } dependencies { - compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar']) compile (name: 'TangoUtils', ext: 'aar') compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar' } diff --git a/TangoReleaseLibs/aar/TangoUtils.aar b/TangoReleaseLibs/aar/TangoUtils.aar index 66f0d9de1e806c5ccf2d9de773bd28966e3d3a7e..98ae8646906a77589251bb7dcb9d406f4484efbb 100644 GIT binary patch delta 76953 zcmV(rK<>Z7#23!(1b%a? zRDM}?g{|1%H#-#m5>wid>QPEPtZrndi90OP+BaL~8Vch$Et{};(}k7||3UjP6&KmY(l z|5j4Y*3p>8(0@wb(J@+KO+t_!j{EG&VBVLV^gu_ zt;y258-KqhI2QVzCqeA(R4@bo=YtDcFlHnZX+Kms)Zi9!7!u_Smgv-QD9-V0Y@$7? zh+EFxNc{bggD^DSdIkI7tK)PTwg# zGk<=@e)7@d=y*M=tLqDpHZn;@RHSS~hi|Ah!ifAe23bgnCP&UrPEmq16r8IP2j?R) z;s|P8EyqH!ky&Y6*wmk=WPNek+-fObvfGi;dwClObm6DpV&>ueRd{oyX;Rp~l~MZP 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